H ∞ and H 2 almost output and regulated output synchronization of heterogeneous multi-agent systems: A scale-free protocol design

This paper studies scale-free protocol design for and almost output and regulated output synchronization of heterogeneous multi-agent systems with linear, right-invertible and introspective agents in presence of external disturbances. The proposed collaborative linear dynamic protocol designs are based on localized information exchange over the same communication network which do not require any knowledge of the directed network topology, spectrum of the associated Laplacian matrix, and the number of agents. Moreover, the proposed scale-free protocols achieve and almost output and regulated output synchronization with a given arbitrary degree of accuracy for any size of the network.