Pairwise synchronization of multi-agent systems with nonuniform information exchange

In this note, the pairwise output synchronization problem of heterogeneous linear multi-agent systems is proposed. Considering a pair of agents denoted by (i,j)(i,j), the control objective of this problem is to achieve output synchronization between jjth output of agent ii and iith output of agent jj, and for this reason it can be viewed as a generalization of existing works in the output synchronization literature. The communication network is undirected and time varying with relative output information available for intercommunication. When the agent dynamics are identical and the output signals are observable, this problem becomes a state synchronization problem with nonuniform information exchange, and our results show that state synchronization is achievable in jointly connected graph.