Output synchronization for heterogeneous networks of introspective right-invertible agents

Tao Yang, Ali Saberi, Antonie Arij Stoorvogel, H°avard Fjær Grip

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    75 Citations (Scopus)


    In this paper, we consider the output synchronization problem for heterogeneous networks of right-invertible linear agents. We assume that all the agents are introspective, meaning that they have access to their own local measurements. Under this assumption, we then propose a decentralized control scheme for solving the output synchronization problem for a set of network topologies. The proposed scheme can also be applied to solve the output formation problem with arbitrary formation vectors. We also consider the regulation of output synchronization problem, where the output of each agent has to track an a priori specified reference trajectory, generated by an exosystem. In this case, we assume that the root agent has access to its own output relative to the reference trajectory.
    Original languageUndefined
    Pages (from-to)1821-1844
    Number of pages24
    JournalInternational journal of robust and nonlinear control
    Issue number13
    Publication statusPublished - 2014


    • METIS-305959
    • EWI-24937
    • IR-91491

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