Synchronization for heterogeneous networks of weakly-non-minimum-phase, non-introspective agents without exchange of controller states

This paper studies the synchronization problem for undirected, weighted networks where agents are non-introspective (i.e. they have no access to any state or output) and do not need another communication layer to exchange internal controller states. The more significant is that this paper deals with weakly-non-minimum-phase agents. We consider heterogeneous networks with linear agents. A purely decentralized linear dynamical protocol based on a low-and-high gain methodology is designed for each agent, where the only information available for each agent is a weighted linear combination of its output relative to that of its neighboring.