On robust synchronization of heterogeneous linear multi-agent systems with static couplings

Georg S. Seyboth, Dimos V. Dimarogonas, Karl Henrik Johansson, Paolo Frasca, Frank Allgöwer

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    53 Citations (Scopus)

    Abstract

    This paper addresses cooperative control problems in heterogeneous groups of linear dynamical agents that are coupled by diffusive links. We study networks with parameter uncertainties, resulting in heterogeneous agent dynamics, and we analyze the robustness of their output synchronization. The networks under consideration consist of non-identical double-integrators and harmonic oscillators. The geometric approach to linear control theory reveals structural requirements for non-trivial output synchronization in such networks. Furthermore, a clock synchronization problem and a circular motion coordination problem are discussed as applications corresponding to these two network types. The results are illustrated by numerical simulations.
    Original languageUndefined
    Pages (from-to)392-399
    Number of pages8
    JournalAutomatica
    Volume53
    DOIs
    Publication statusPublished - Mar 2015

    Keywords

    • EWI-26796
    • Heterogeneous networks
    • Linear systems
    • IR-99349
    • Multi-Agent Systems
    • Diffusive couplings
    • METIS-315587
    • Synchronization

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