Almost regulated output synchronization for heterogeneous time-varying networks of non-introspective agents and without exchange of controller states

We consider almost regulated output synchronization for heterogeneous directed networks with external disturbances where agents are non-introspective (i.e. agents have no access to their own states or outputs). A purely decentralized time-invariant protocol based on a low-and-high gain method is designed for each agent to achieve almost regulated output synchronization while reducing the impact of disturbances on the regulated output synchronization error. It is also shown that this protocol also works in the case of time-varying graphs.