This paper deals with the ${\mathcal{H}}_2$ suboptimal output synchronization problem for heterogeneous linear multi-agent systems. Given a multi-agent system with possibly distinct agents and an associated ${\mathcal{H}}_2$ cost functional, the aim is to design output feedback based protocols that guarantee the associated cost to be smaller than a given upper bound while the controlled network achieves output synchronization. A design method is provided to compute such protocols. For each agent, the computation of its two local control gains involves two Riccati inequalities, each of dimension equal to the state space dimension of the agent. A simulation example is provided to illustrate the performance of the proposed protocols.

本文涉及 ${\mathcal{H}}_2$异构线性多主体系统的次优输出同步问题。给定具有可能不同的代理人和相关联的多代理人系统${\mathcal{H}}_2$成本功能，目的是设计基于输出反馈的协议，以确保相关的成本小于给定的上限，同时受控网络实现输出同步。提供一种设计方法来计算这样的协议。对于每个代理，其两个局部控制增益的计算涉及两个Riccati不等式，每个不等式的维数等于代理的状态空间维。提供了一个仿真示例来说明所提出协议的性能。