Output sign-consensus of heterogeneous multiagent systems over fixed and switching signed graphs

This paper investigates output sign-consensus of multiagent systems over directed signed graphs. In signed graphs, the sign of each edge stands for either hostile interaction (associated with positive sign) or antagonistic interactions (associated with negative sign) among agents. Agent dynamics are heterogeneous, allowing coexistence of distinct agent dynamics in one group. Heterogeneity in this paper also implies that the states of different agents may have different dimensions, but their outputs should have the same dimension. Distributed control laws are designed for both fixed and switching graph topologies. For fixed topology, the graph is assumed to be eventually positive. For switching topology, the graph needs to be jointly eventually positive, which extends the well-known concept of joint connectivity by taking dwell time into consideration.