Observability of Discrete-Time Two-Time-Scale Multi-Agent Systems with Heterogeneous Features under Leader-Based Architecture

This paper investigates the observability of discrete-time two-time-scale multi-agent systems with heterogeneous features under leader-follower architecture. First, a singular perturbation difference model for the discussed system is established based on consensus agreement. Second, to eliminate the numerical ill-posed problem that may arise from the singularly perturbed small parameter that distinguishes different time scales in the observability analysis, the order of the system model is reduced using the boundary layer theory of the singular perturbation system to obtain a slow-time-scale subsystem and a fast-time-scale subsystem. Then, based on the matrix theory, some algebraic and graphical features that guarantee the observability of the system are obtained. Finally, the validity of the theoretical results is verified by a numerical example.