Leader-follower output consensus of linear heterogeneous multi-agent systems via output feedback

In this paper, we propose output feedback controller for leader-follower output consensus of linear heterogeneous multi-agent systems. We derive a global sufficient condition for the existence of an output feedback and we show that the global condition shrinks to an H_∞ criterion of a local system. We indicate that the H_∞ criterion is a local sufficient condition and it can be satisfied based on a feasible solution to a set of two LMIs and one non-convex algebraic constraint. To check the feasibility of this problem and provide a solution to it (if any), we use an iterative algorithm over a linear optimization problem. We illustrate our theoretical developments by a simulation.