Consensus of heterogeneous multi-agent systems using output feedback

This paper studies the consensus problem for linear multi-agent systems (MASs) under fixed and switching graph topologies. All agents are modeled by general heterogeneous linear systems, and only the output of each agent can be measured. Using a static output feedback controller, consensus problem is formulated as a stability problem with bilinear matrix inequality (BMI) constraints. Finally, Numerical simulations are provided to show the effectiveness of the proposed methods.