Squared-down passivity-based H_∞ and H_2 almost synchronization of homogeneous continuous-time multi-agent systems with partial-state coupling via static protocol

摘要

This paper studies H-infinity and H-2 almost state or output synchronization of homogeneous multi-agent systems (MAS) with partial-state coupling via static protocols in the presence of external disturbances. We provide solvability conditions for designing static protocols. We characterize three classes of agents for which we can design linear static protocols for state or output synchronization of a MAS such that the impact of disturbances on the network disagreement dynamics, expressed in terms of the H-infinity and H-2 norms of the corresponding closed-loop transfer function, is reduced to arbitrarily small value. Meanwhile, the static protocol only needs rough information on the network graph, that is a lower bound for the real part and an upper bound for the modulus of the non-zero eigenvalues of the Laplacian matrix associated with the network graph. Our study focuses on three classes of agents which are squared-down passive, squared-down passifiable via output feedback and squared-down minimum-phase with relative degree 1. (C) 2019 European Control Association. Published by Elsevier Ltd. All rights reserved.