# $\mathcal{H}_{\infty}$ almost output synchronization for heterogeneous networks without exchange of controller states

Meirong Zhang, Ali Saberi, H°avard Fjær Grip, Antonie Arij Stoorvogel

23 Citations (Scopus)

## Abstract

We consider the H∞ almost output synchronization and regulated output synchronization problem for heterogeneous directed networks with external disturbances where agents are introspective (i.e., agents have access to a part of their own states). A decentralized protocol is designed for each agent, without exchanging internal controller states with neighboring agents, to achieve output synchronization and regulated output synchronization while making the H∞ norm from the disturbances to the synchronization errors in the network arbitrarily small. Furthermore, the idea for output synchronization is applied to a formation problem in the presence of disturbances. The method is illustrated by simulation examples.
Original language Undefined 348-357 10 IEEE transactions on control of network systems 2 4 https://doi.org/10.1109/TCNS.2015.2426754 Published - Dec 2015

## Keywords

• Synchronization
• linear feedback control systems
• disturbances
• EWI-26611
• Multi-Agent Systems
• Distributed processing
• METIS-315114
• IR-98932