Exact Regulated Output Synchronization for Heterogeneous Continuous-Time MAS in the Presence of Disturbances and Measurement Noise with Known Frequencies

The vast majority of the research in MAS has focused on the idealized case where the agents are unaffected by external disturbances. Among the authors that have considered external disturbances, Li et al. (IEEE Trans Circ Syst-I Regul Pap 57(1):213–224, 2010) considered the problem of minimizing the ℋ_∞ norm from an external disturbance to the output of each agent, whereas Lin and Jia (IET Control Theory Appl 4(3):487–498, 2010) and Lin et al. (Syst Control Lett 57(8):643–653, 2008) considered minimization of the ℋ_∞ norm from a disturbance to the average of the states in a network of single or double integrators. By contrast, Peymani et al. (Automatica 50(4):1026–1036, 2014) introduced the notion of ℋ_∞ almost synchronization for a class of heterogeneous networks, where the goal is to reduce the ℋ_∞ norm from an external disturbance to the synchronization error, to any arbitrary desired level.