Scale-Free delta-Level Coherent Output Synchronization of Multi-Agent Systems with Adaptive Protocols and Bounded Disturbances

TL;DR

This paper presents an adaptive, scale-free control framework for multi-agent systems that guarantees a specified level of output synchronization despite bounded disturbances, without prior knowledge of network topology or size.

Contribution

The authors develop a novel adaptive protocol that achieves delta-level coherent output synchronization in multi-agent systems, independent of network topology and size, under bounded disturbances.

Findings

Achieves scale-free synchronization with no topology knowledge

Guarantees coherence level below a prescribed threshold

Effective under bounded disturbances and noises

Abstract

In this paper, we investigate scale-free delta-level coherent output synchronization for multi-agent systems (MAS) operating under bounded disturbances or noises. We introduce an adaptive scale-free framework designed solely based on the knowledge of agent models and completely agnostic to both the communication topology and the size of the network. We define the level of coherency for each agent as the norm of the weighted sum of the disagreement dynamics with its neighbors. We define each agents coherency level as the norm of a weighted sum of its disagreement dynamics relative to its neighbors. The goal is to ensure that the networks coherency level remains below a prescribed threshold delta, without requiring any a priori knowledge of the disturbance.