Synchronization of Heterogeneous Continuous-/and Discrete-Time Linear MAS With Introspective Agents

The initial research on MAS with heterogeneous networks often relied on introspective agents. Whenever agents are introspective, agents can be reshaped as asymptotically identical using a pre-feedback. See for instance the work Chopra and Spong (Output synchronization of nonlinear systems with relative degree one. In: Blondel, V.D., Boyd, S.P., Kimura, H. (eds.). Recent Advances in Learning And Control. Lecture Notes in Control and Information Sciences, vol. 371, pp. 51–64. Springer, London, 2008) and Bai et al. (Cooperative Control Design: A Systematic, Passivity-Based Approach. Communications and Control Engineering. Springer, Berlin, 2011).