Scale-free Protocol Design for Output and Regulated Output Synchronization of Heterogeneous Multi-agent Systems

TL;DR

This paper introduces a scalable, model-based linear protocol for achieving output and regulated output synchronization in heterogeneous multi-agent systems, requiring no global network information.

Contribution

The proposed protocol is scale-free, relying only on local agent models, and does not need communication graph or agent count information, advancing multi-agent synchronization methods.

Findings

Achieves output synchronization in heterogeneous agents.

Works without global network or agent number information.

Applicable to systems with local measurements and exosystem references.

Abstract

In this paper, we consider scalable output and regulated output synchronization problems for heterogeneous networks of right-invertible linear agents based on localized information exchange where in the case of regulated output synchronization, the reference trajectory is generated by a so-called exosystem. We assume that all the agents are introspective, meaning that they have access to their own local measurements. We propose a scale-free linear protocol for each agent to achieve output and regulated output synchronizations. These protocols are designed solely based on agent models and they need no information about communication graph and the number of agents or other agent models information.