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

Abstract

This paper studies global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation. We identify three classes of agent models which are neutrally stable, double-integrator, and mixed of double-integrator, single-integrator and neutrally stable dynamics. A \textit{scale-free linear observer-based} protocol design methodology is developed based on localized information exchange among neighbors where the reference trajectory is given by a so-called exosystem which is assumed to be globally reachable. Our protocols do not need any knowledge about the communication network topology and the spectrum of associated Laplacian matrix. Moreover, the proposed protocol is scalable and is designed based on only knowledge of agent models and achieves synchronization for any communication graph with arbitrary number of agents.

arXiv admin note: text overlap with arXiv:2004.09498, arXiv:1908.06535, arXiv:2001.02117, arXiv:2002.06577

References in corpus (3)

• LQR-based coupling gain for synchronization of linear systems
• Regulated State Synchronization for Homogeneous Networks of Non-introspective Agents in Presence of Input Delays: A Scale-Free Protocol Design (with a general MATLAB implementation)
• Regulated State Synchronization for Discrete-Time Homogeneous Networks of Non-Introspective Agents in Presence of Unknown Non-Uniform Input Delays: A Scale-Free Protocol Design (with a general MATLAB implementation)