Regulated Output Synchronization of Heterogeneous Continuous-Time Nonlinear MAS

The previous chapter considered regulated output synchronization for synchronization problems for heterogeneous continuous-time MAS where the agents are linear. In this chapter, we consider the same problem for nonlinear systems with a specific structure. The class of nonlinear agents we will consider is the same as studied in Chap. 5 for homogeneous MAS. As already noticed in Chap. 5, most of the literature focuses on the concept of passivity for nonlinear systems. We will briefly focus on passivity in Chap. 21.