H2 Suboptimal Output Synchronization of Heterogeneous Multi-Agent Systems

This paper deals with the H2 suboptimal output synchronization problem for heterogeneous linear multi-agent systems. Given a multi-agent system with possibly distinct agents and an associated H2 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.