Almost Output Synchronization for Heterogeneous Networks Without Exchange of Controller States

摘要

We consider the almost output synchronization and regulated output synchronization problem for heterogeneous directed networks with external disturbances where agents are introspective (i.e., agents have access to a part of their own states). A decentralized protocol is designed for each agent, without exchanging internal controller states with neighboring agents, to achieve output synchronization and regulated output synchronization while making the norm from the disturbances to the synchronization errors in the network arbitrarily small. Furthermore, the idea for output synchronization is applied to a formation problem in the presence of disturbances. The method is illustrated by simulation examples.