Output consensus of linear multi-agent systems

This study concerns output consensus problems of linear multi-agent systems with fixed topologies and agents described by homogeneous or heterogeneous linear systems. Based on generalized inverse, graph and linear system theory, conditions are investigated for output consensusability with respect to a set of admissible consensus protocols. The given output consensus conditions depend on both topologies within linear multi-agent systems and structure properties of each agent´s dynamic. The designed output feedback control law can guarantee output consensusability of the considered linear multi-agent systems with respect to a given admissible set. A provided example illustrates applicability of the proposed approach.