H_∞ Almost Output Synchronization for Heterogeneous Continuous-Time MAS

In the previous chapter, we started looking at regulated synchronization for heterogeneous continuous-time linear MAS, where agents are affected by external disturbances. There, we considered disturbances of known frequency and showed that we could still achieve exact regulated synchronization. In this chapter, we will consider disturbances with bounded power. It is easily established that exact regulated synchronization is no longer possible. We therefore focus on almost regulated synchronization. We will show that for minimum-phase and right-invertible agents, we can reduce the effect of disturbances on the regulated output synchronization error to an arbitrarily small value.