Squared-down passivity-based H and H2 almost synchronization of homogeneous continuous-time multi-agent systems with partial-state coupling via static protocol

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

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

Abstract

This paper studies H and H2 almost state or output synchronization of homogeneous multi-agent systems (MAS) with partial-state coupling via static protocols in the presence of external disturbances. We provide solvability conditions for designing static protocols. We characterize three classes of agents for which we can design linear static protocols for state or output synchronization of a MAS such that the impact of disturbances on the network disagreement dynamics, expressed in terms of the H and H2 norms of the corresponding closed-loop transfer function, is reduced to arbitrarily small value. Meanwhile, the static protocol only needs rough information on the network graph, that is a lower bound for the real part and an upper bound for the modulus of the non-zero eigenvalues of the Laplacian matrix associated with the network graph. Our study focuses on three classes of agents which are squared-down passive, squared-down passifiable via output feedback and squared-down minimum-phase with relative degree 1.

Original languageEnglish
Pages (from-to)73-86
Number of pages14
JournalEuropean journal of control
Volume54
DOIs
Publication statusPublished - Jul 2020

Keywords

  • H and H almost synchronization
  • Multi-agent systems
  • Synchronization in complex networks of dynamical systems

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