Global regulated state synchronization for homogeneous networks of non-introspective agents in presence of input saturation: Scale-free nonlinear and linear protocol designs

Zhenwei Liu, Ali Saberi, Anton A. Stoorvogel, Donya Nojavanzadeh*

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

10 Citations (Scopus)
37 Downloads (Pure)


This paper studies global regulated state synchronization of homogeneous networks with non-introspective agents in the presence of input saturation where the reference trajectory is given by a so-called exosystem which is assumed to be globally reachable. A scale-free nonlinear and linear dynamic protocols design methodology is developed for multi-agent system with partial-state couplings based on localized information exchange among neighbors. The scale-free nonlinear dynamic protocol is developed via scheduling (adaptive) design for linear agents. Meanwhile, the scale-free linear observer-based protocol design is proposed for a model consisting of a mix of double-integrator, single-integrator and neutrally stable dynamics. Our protocols do not need any knowledge about the directed network topology or the spectrum of the associated Laplacian matrix. Besides, the proposed protocol is scalable and designed based on only knowledge of agent models and achieves synchronization for any communication graph with an arbitrary number of agents.

Original languageEnglish
Article number109041
Early online date28 May 2020
Publication statusPublished - Sept 2020


  • Global regulated state synchronization
  • Homogeneous networks
  • Input saturation
  • Scale-free dynamic protocol
  • 22/2 OA procedure

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