Almost Output Synchronization for Multi-agent Systems with Non-identical Agents Under Time-Varying Topologies

The synchronization problem of multi-agent systems with non-identical general agents under time-varying topologies and in the presence of external disturbances has not been solved for the introspective agents, i.e., agents have access to parts of their own states. This paper aims to tackle this problem. It is assumed that the time-varying topology switches among a certain amount of topologies with any a priori given dwell time and each topology contains a directed spanning tree. This paper proposes a family of distributed protocols for each agent only using relative information from its neighboring agents and some of its own states, such that synchronization can be achieved among agents while the effect of disturbances with finite power on the norm of all agents’ output disagreement can be suppressed as much as possible. It should be emphasized that agents’ controller states are exempted from the protocol design.