This article studies output sign-consensus of heterogeneous multiagent systems, that is, outputs of all agents will eventually have the same sign. Both fixed and switching signed graphs are treated. To remove the restriction that every follower node needs to know the dynamics of the leader node, a distributed observer is maintained by each follower node, such that the state and dynamics of the leader node is estimated. Moreover, the communication graph is allowed to be structurally unbalanced and time-varying. Then distributed state feedback control law and measurement output feedback control law are designed and analyzed. Simulation examples are presented to illustrate the effectiveness of the proposed control laws.

中文翻译：

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异构多智能体系统在固定和切换符号图上的输出符号共识：一种基于观察者的方法

本文研究异构多智能体系统的输出符号共识，即所有智能体的输出最终将具有相同的符号。固定和切换有符号图都被处理。为了消除每个follower节点需要知道leader节点动态的限制，每个follower节点维护一个分布式观察器，从而估计leader节点的状态和动态。此外，允许通信图在结构上不平衡和随时间变化。然后设计并分析了分布式状态反馈控制律和测量输出反馈控制律。仿真实例说明了所提出的控制律的有效性。