Abstract
This paper investigates a general model of heterogeneous multiagent systems with different individual adaptation structures and input constraints, and proposes an effective distributed adaptation protocol for compensating the effects of differences in system matrices and solving the leader-following consensus problem in such a model. It is generally assumed that state outputs are the only information transmitted over networks, and relative states between neighboring agents are locally available to the linked agents. Sufficient conditions are established for adaptive state consensus in terms of rooted interaction topologies, and a simulation of synchronizing harmonic oscillators is given to demonstrate the effectiveness of the proposed results.
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