Output Consensus of Heterogeneous Discrete-Time Multi-agent Systems over Switching Digraphs

The focus of this paper is the investigation of output consensus problems in heterogeneous discrete-time linear multi-agent systems with switching digraphs. The modified algebra Riccati inequality and a topology matrix inequality are utilized to design the distributed controller. The main contributions are as follows. Different from state feedback controllers, the protocol proposed in this study relies solely on output feedback for practical applications. Moreover, a low-gain approach and average dwell time based conditions are developed to solve output consensus problem.