H2Almost State Synchronization of Homogeneous Multi-agent Systems-A Scale-free Design

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)
6 Downloads (Pure)


This paper studies scale-free protocol design for H2 almost state synchronization of homogeneous networks of non-introspective agents in presence of external disturbances. The necessary and sufficient conditions are provided by designing collaborative linear dynamic protocols. The design is based on localized information exchange over the same communication network, which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. Moreover, the proposed protocol is scalable and achieves H2 almost synchronization with a given arbitrary degree of accuracy for any arbitrary number of agents.

Original languageEnglish
Title of host publicationProceedings of the 40th Chinese Control Conference, CCC 2021
EditorsChen Peng, Jian Sun
Place of PublicationPiscataway, NJ
PublisherIEEE Computer Society Press
Number of pages6
ISBN (Electronic)978-9-8815-6380-4
ISBN (Print)978-1-6654-1195-0
Publication statusPublished - 6 Oct 2021
Event40th Chinese Control Conference, CCC 2021 - Virtual Event, Shanghai, China
Duration: 26 Jul 202128 Jul 2021
Conference number: 40

Publication series

NameChinese Control Conference, CCC
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927


Conference40th Chinese Control Conference, CCC 2021
Abbreviated titleCCC 2021


  • Halmost output Synchronization
  • Multi-agent systems
  • Scale-free protocols
  • 22/2 OA procedure


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