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This letter is concerned with the problem of output consensus for two classes of heterogeneous nonlinear multi-agent systems which are interconnected via diffusive couplings over directed graphs. Specifically, for agents that are input feedforward passive (IFP), a condition in terms of passivity indices is proposed for asymptotic output consensus. Moreover, it is shown that the proposed condition ...

Consensus of Heterogeneous Multi-Agent Systems With Diffusive Couplings via Passivity Indices