Leaderless output sign consensus of heterogeneous multi-agent systems over switching signed graphs

This study examined the LOSC problem of heterogeneous MASs over signed switching digraphs. We remove the common requirement that a practical leader should exist for the consensus of heterogeneous MASs and enable the communication network to be dynamically changing. A virtual leader is induced by a distributed “sign observer”, and by using the output regulation approach, the MAS can achieve LOSC. However, the selection of the switching signed graphs is quite demanding and requires further investigation.