H_∞ almost state synchronization for homogeneous networks of non-introspective agents: A scale-free protocol design

This paper studies scale-free protocol design for H_∞ almost state synchronization of homogeneous networks of non-introspective agents in the presence of external disturbances. A linear dynamic protocol is developed 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 H_∞ almost synchronization with a given arbitrary degree of accuracy for any arbitrary number of agents.