Robust output feedback consensus for multiple heterogeneous negative-imaginary systems

This paper investigates a robust output feedback consensus for a wide class of linear time-invariant (LTI) systems, namely Negative-Imaginary (NI) systems. A positive-feedback interconnection with Strictly Negative-Imaginary (SNI) controllers is applied through the network topology to achieve robust output feedback consensus of heterogeneous multi-input-multi-output (MIMO) NI systems. Robustness to external disturbances and model uncertainty is guaranteed via NI system theory. Numerical examples for various scenarios are given to demonstrate the effectiveness of proposed consensus algorithm.