Sufficient metric conditions for synchronization of leader-connected homogeneous nonlinear multi-agent systems

摘要

We address the exponential synchronization problem of a leader-connected network of identical nonlinear systems. We suppose that each system can be made contractive by a static feedback law obtained via sufficient metric-based conditions. A distributed diffusive coupling feedback is then designed in order to solve the problem in two frameworks: the case of input-affine systems allowed to exchange all the state information to its neighbour; and the case of nonlinear systems linear in the input allowed to exchange only a possibly nonlinear output.