Synchronization for heterogeneous time-varying networks with non-introspective,non-minimum-phase agents in the presence of external disturbances with known frequencies

This paper considers regulated output synchronization for heterogeneous networks, where agents are non-introspective (i.e. agents have no access to their own states or outputs), non-minimum-phase agents in the presence of external disturbances, including process disturbances and measurement noise, with known frequencies. Moreover, the communication network is directed, weighted and time-varying. A purely decentralized linear time-invariant protocol based on a high-gain observer is designed for each agent to achieve regulated output synchronization, i.e. agents’ outputs are asymptotically regulated to a given reference trajectory, even in the presence of external disturbance with known frequencies.