H₂ Almost State Synchronization of Homogeneous Multi-agent Systems–A Scale-free Design

Abstract

This paper studies scale-free protocol design for H 2 almost state synchronization of homogeneous networks of nonintrospective agents in presence of external disturbances. The necessary and sufficient conditions are provided by designing collaborative linear dynamic protocols. The design is based on localized information exchange over the same communication network, which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. Moreover, the proposed protocol is scalable and achieves H 2 almost synchronization with a given arbitrary degree of accuracy for any arbitrary number of agents.

Exact Output Synchronization of Discrete-Time Multi-Agent Systems in the Presence of Disturbances and Measurement Noise with Known Frequencies via Scale-Free Protocol Design

“…In the former case, H ∞ almost state synchronization is achieved for homogeneous MAS in [8], with the use of properly designed localized information exchange is used. While in the latter case, a scalable H 2 almost state synchronization was realized in [9,10].…”