Exact Output Synchronization of Discrete-Time Multi-Agent Systems in the Presence of Disturbances and Measurement Noise with Known Frequencies via Scale-Free Protocol Design

This paper aims to achieve scalable exact output synchronization for discrete-time homogeneous multi-agent systems in the presence of disturbances and measurement noise with known frequencies. The key contribution of this paper is on the distributed protocol that only uses the information of agent models, rather than the communication network information and the agent number, so as to achieve the scalable exact synchronization under disturbances and measurement noise. The validity of the protocol is verified by numerical simulations with arbitrarily chosen number of agents.