Scale-free Linear Observer-based Protocol Design for Global Regulated State Synchronization of Homogeneous Multi-agent Systems with Non-introspective Agents Subject to Input Saturation

This paper studies global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation. We identify three classes of agent models which are neutrally stable, double-integrator, and mixed of double-integrator, single-integrator and neutrally stable dynamics. A \textit{scale-free linear observer-based} protocol design methodology is developed based on localized information exchange among neighbors where the reference trajectory is given by a so-called exosystem which is assumed to be globally reachable. Our protocols do not need any knowledge about the communication network topology and the spectrum of associated Laplacian matrix. Moreover, the proposed protocol is scalable and is designed based on only knowledge of agent models and achieves synchronization for any communication graph with arbitrary number of agents.Comment: arXiv admin note: text overlap with arXiv:2004.09498, arXiv:1908.06535, arXiv:2001.02117, arXiv:2002.0657

Solvability conditions and design for state synchronization of multi-agent systems✩

This paper derives conditions on the agents for the existence of a protocol which achieves synchronization of homogeneous multi-agent systems (MAS) with partial-state coupling, where the communication network is directed and weighted. These solvability conditions are necessary and sufficient for single-input agents and sufficient for multi-input agents. The solvability conditions reveal that the synchronization problem is primarily solvable for two classes of agents. This first class consists of at most weakly unstable agents (i.e. agents have all eigenvalues in the closed left half plane) and the second class consists of at most weakly non-minimum-phase agents (i.e. agents have all zeros in the closed left half plane). Under our solvability condition, we provide in this paper a design, utilizing H∞ optimal control