ℌ∞ almost regulated synchronization and ℌ∞ almost formation for heterogeneous networks under external disturbances

We introduce the notions of "ℌ ∞ almost regulated synchronization" and "ℌ ∞ almost formation" for multi-agent systems subject to external disturbances and under directed interconnection structures. We assume that agents are linear, right-invertible and introspective with non-iden...

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Bibliographic Details
Published in2013 European Control Conference (ECC) pp. 1890 - 1895
Main Authors Peymani, Ehsan, Grip, Havard Fjaer, Saberi, Ali, Wang, Xu, Fossen, Thor I.
Format Conference Proceeding
LanguageEnglish
Published EUCA 01.07.2013
Subjects
Laplace equations
Multi-agent systems
Network topology
Protocols
Synchronization
Topology
Transfer functions
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Summary:We introduce the notions of "ℌ ∞ almost regulated synchronization" and "ℌ ∞ almost formation" for multi-agent systems subject to external disturbances and under directed interconnection structures. We assume that agents are linear, right-invertible and introspective with non-identical dynamics. The objective is to suppress the impact of disturbances on the synchronization error dynamics in terms of the ℌ ∞ norm of the corresponding closed-loop transfer function. Inspired by the time-scale structure assignment techniques based on the singular perturbation theory, a family of observer-based protocols is introduced to achieve synchronization with any desired accuracy.
DOI:10.23919/ECC.2013.6669372