H∞ Almost Output Synchronization for Heterogeneous Networks Without Exchange of Controller States
- ,
- Ali Saberic(Author),
- Håvard Fjær Gripa(Author),
- Anton A. Stoorvogelb(Author)
- aNorwegian University of Science and Technology,
- bUniversity of Twente,
- cWashington State University
Research Output: Contribution to journal Article Peer-review
Abstract
We consider the H∞ almost output synchronization and regulated output synchronization problem for heterogeneous directed networks with external disturbances where agents are introspective (i.e., agents have access to a part of their own states). A decentralized protocol is designed for each agent, without exchanging internal controller states with neighboring agents, to achieve output synchronization and regulated output synchronization while making the H∞ norm from the disturbances to the synchronization errors in the network arbitrarily small. Furthermore, the idea for output synchronization is applied to a formation problem in the presence of disturbances. The method is illustrated by simulation examples.