Abstract
This paper models a class of leader-based discrete-time multi-agent systems (MASs) over signed networks with both positive edges and negative edges, and addresses the observability of such multi-agent network based on an agreement protocol. Some new algebraic and graphical characterisations of the observability are given using a signed Laplacian. In addition, for a structurally balanced network, the observability of a leader-follower discrete-time signed network with structurally balanced condition is equivalent to that of the corresponding unsigned network, if the leaders are selected from the same partitioned subset. Some numerical examples and simulations are given to demonstrate the analysis.
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