Output H<inf>∞</inf> synchronization of heterogeneous linear multi-agent systems via a distributed output-feedback

This paper investigates output H ∞ synchronization of a group of linear heterogeneous agents. Agents are subject to external unmodeled disturbances and distributively communicate one set of outputs. The aim is to design a distributed controller to achieve synchronization on another set of outputs with an H ∞ bound. We obtain an H ∞ -criterion for each agent that guarantees output synchronization in the absence of the external unmodeled disturbances and output H ∞ synchronization in their presence. We derive the overall L 2 -gain of the output synchronization error with respect to the external unmodeled disturbances. We demonstrate our developments by a simulation example.