Distributed output agreement in a class of uncertain linear heterogeneous multi-agent dynamic systems

In this article we consider the distributed output agreement problem in a class of heterogeneous multi-agent dynamic systems composed of single input single output linear systems with system uncertainties. Under very mild assumptions local adaptive internal model based controllers augmented with high gain observers are designed to achieve agreement of the agent outputs. The performance of the proposed controllers is verified for various neighborhood topologies using representative numerical simulations.