State Synchronization for Homogeneous Networks of Non-introspective Agents in Presence of Input Saturation -A Scale-free Protocol Design

TL;DR

This paper introduces a scalable, topology-agnostic protocol for achieving state synchronization in homogeneous agent networks with input saturation, leveraging exosystem-based reference signals and information exchange.

Contribution

It presents a novel, scalable protocol that does not require network topology or Laplacian spectrum knowledge for synchronized control of agents with input saturation.

Findings

Achieves global and semi-global synchronization

Does not depend on network topology or Laplacian spectrum

Works for any number of agents

Abstract

This paper studies global and semi-global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation based on additional information exchange where the reference trajectory is given by a so-called exosystem which is assumed to be globally reachable. Our protocol design methodology 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 synchronization for any arbitrary number of agents.