Output and Regulated Output Synchronization of Heterogeneous Multi-agent Systems: A Scale-free Protocol Design using no Information about Communication Network and the Number of Agents

Abstract

This paper studies scale-free protocol design for ∞ almost output and regulated output synchronization of heterogeneous multi-agent systems with linear, right-invertible and introspective agents in presence of external disturbances. The collaborative linear dynamic protocol designs are based on localized information exchange over the same communication network, which do not require any knowledge of the directed network topology and spectrum of the associated Laplacian matrix. Moreover, the proposed scale-free protocols achieve ∞ almost synchronization with a given arbitrary degree of accuracy for any size of the network.

Scale‐free collaborative protocols for global regulated state synchronization of discrete‐time homogeneous networks of non‐introspective agents in presence of input saturation

“…then we have the following closed-loop system 𝜎 T (u(j))(u(j) − 𝜎(u(j))), (40) where 𝜌 > 0 is a predesign parameter, P > 0 satisfies (37), and P D > 0 satisfies…”

“…Recently, we have introduced a new generation of scale‐free collaborative protocols for synchronization of continuous‐time homogeneous and heterogeneous MAS by collaborating with additional localized information exchange, where the agents are subject to input saturation or disturbances, see, for example, References 38‐40. The scale‐free protocol means the design is independent of the information about the associated communication graph or the size of the network, that is, the number of agents.…”

Scale-free H2 Almost State Synchronization for Homogeneous Networks of Non-Introspective Agents

“…And we just need to prove the H 2 norm from ω to x can be made arbitrary small. From ( 13) and ( 14), we have (12) such that E = BX for an X, where…”

“…State synchronization based on diffusive partial-state coupling has also been considered, including static design ( [8], [10], [11]), dynamic design ( [3], [22], [23], [25], [29], [31]), and the design with additional communication ( [5], [6], and [21]). Recently, scale-free collaborative protocol designs are developed for homogeneous and heterogeneous MAS [1], [12] and for MAS subject to actuator saturation [7].…”

Scale-free Linear Observer-based Protocol Design for Global Regulated State Synchronization of Homogeneous Multi-agent Systems with Non-introspective Agents Subject to Input Saturation

“…Solvability conditions are studied for general case of full and partial-state coupling in [25], [24]. Recently, scale-free collaborative protocol designs are developed for continuous-time heterogeneous MAS [15] and for homogeneous MAS subject to actuator saturation [10] and subject to input delays [9,8].…”