Distributed-observer-based output synchronization for heterogeneous double-integral networks

This paper considers the output synchronization for nonidentical second-order integral dynamics with external disturbance. The leader's signal can only be received by parts of the followers, and all the followers have different dynamics. An adaptive distributed compensator is utilized to estimate the leader's signal and system matrix. Since the states' information of the agents can not be measured by the others, a novel distributed reduced-dimension observer is designed to estimate the unmeasurable states. Based on the adaptive distributed compensator and reduced-dimension observer, a dynamic output feedback control law is designed to solve the output synchronization problem. Finally, an example is given to illustrate the validity of the theoretical results.