A Passivity-Agnostic Framework for Distributed Adaptive Synchronization under Unknown Leader Dynamics

TL;DR

This paper introduces a passivity-agnostic framework for distributed adaptive synchronization of heterogeneous systems with unknown dynamics, ensuring robustness and stability even without initial passivity assumptions.

Contribution

It develops a novel adaptive synchronization method that certifies or recovers passivity as needed, applicable to various network topologies with disturbances.

Findings

Guarantees global asymptotic synchronization in disturbance-free case

Achieves exact disturbance rejection for constant disturbances

Demonstrates scalable robustness and parameter adaptation in simulations

Abstract

We present a passivity-agnostic framework for distributed adaptive synchronization under position-only communication, bounded disturbances, and unknown leader dynamics. By passivity-agnostic we mean the design does not require the closed loop system to be strictly positive real (SPR) a priori: it certifies SPR when present and recovers it by frequency shaping when absent. Followers are heterogeneous second-order systems with unknown (possibly unstable) dynamics. In the SPR regime, a structured reparameterization yields gradient-based adaptive error dynamics; Lyapunov analysis guarantees global asymptotic synchronization in the disturbance-free case, exact rejection of constant disturbances, and bounded responses to time-varying disturbances, with parameter convergence under persistent excitation. In the non-SPR regime, frequency shaping recovers effective passivity of the unshaped transfer function, enabling the same stability guarantees via standard passivity/Lyapunov arguments using Meyer-Kalman-Yakubovich (MKY) Lemma. Simulations across star, cyclic, path, and arbitrary graphs demonstrate scalable synchronization, robust tracking, and parameter adaptation under multiple disturbance profiles, confirming that the frequency-shaped non-SPR designs match the performance of the SPR case.