Synchronization for heterogeneous networks of introspective right-invertible agents with uniform constant communication delay

Abstract

This paper studies output synchronization and regulation problem for heterogeneous networks of introspective right-invertible agents with uniform constant communication delay. A decentralized design based on shaping the agent dynamics using their self-knowledge and structural properties is developed. In the output synchronization problem, the proposed controller design tolerates arbitrary bounded communication delay and large network uncertainties. In the output regulation problem, it requires relative output measurement of the exosystem only in one agent. Moreover, the design method can also be applied to formation control problems.

Regulated State Synchronization of Homogeneous Discrete-Time Multi-Agent Systems via Partial State Coupling in Presence of Unknown Communication Delays

“…and hence asymptotically stability of the closed loop system (25) without any communication delay is equivalent to the Schur stability of the matrix…”

“…Input delay originates from computational limitations of an individual agent. There are many works dealing with input delay, for example, from single-and double-integrator agent dynamics (see [15], [22], [23], [30]) to more general agent dynamics (see [13], [14], [20], [25], [27], [33]).…”

Global and Semi-global Regulated State Synchronization for Homogeneous Networks of Non-introspective Agents in Presence of Input Saturation- A Scale-free Protocol Design

“…[9], [18], [19], [26]) to more general agent dynamics (see e.g. [16], [22], [23], [27], [5]). Its objective is to derive an upper bound on the input delay such that agents can still achieve synchronization.…”

Synchronization in a network of identical discrete‐time agents with uniform constant communication delay

“…In this case, we do not need any structural property of the agent besides observability. An assumption like right‐invertibility, as used in , is not needed. It turns out that with this additional local measurement, we are able to solve the synchronization problem with arbitrary but bounded communication delay.…”