H2 Almost State Synchronization of Homogeneous Multi-agent Systems–A Scale-free Design
Zhenwei Liu, Ali Saberi, Anton A. Stoorvogel, Donya Nojavanzadeh · 2021
This paper studies scale-free protocol design for H2almost state synchronization of homogeneous networks of non-introspective agents in presence of external disturbances. The necessary and sufficient conditions are provided by designing collaborative linear dynamic protocols. The design is based on localized information exchange over the same communication network, which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. Moreover, the proposed protocol is scalable and achieves H2almost synchronization with a given arbitrary degree of accuracy for any arbitrary number of agents.