Output Consensus of Heterogeneous Linear Multi-agent Systems Subject to Different Disturbances

This paper investigates the output consensus problem of heterogeneous linear multi-agent systems with individual agents subject to different disturbances. A distributed control law based on internal reference models and dynamic output feedback is presented for output consensus. It is shown that the embedded internal reference models of agents can achieve consensus to a common trajectory which is determined by the underlying system topology and the initial states of the internal reference models. Then a necessary and sufficient condition is presented for output consensus of heterogeneous linear multi-agent systems. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed control laws.