Distributed Disturbance Rejection for Dynamic Networked Systems

Abstract

In this paper, we consider the distributed synchronization problem of nonlinear dynamic networked systems with heterogeneous disturbances. For the rejection of disturbances, we propose dynamic controllers which do not rely on the disturbance information. By graph theory and Lyapunov methods, a sufficient condition for the synchronization of nonlinear networked systems is established and it relies on the knowledge of the smallest nonzero eigenvalues of graph Laplacians. In order to implement the proposed disturbance rejection protocols in a fully distributed fashion, adaptive control laws are proposed for the adjustment of coupling strengths of each subsystem. We show that connected network topologies are sufficient for synchronizing the networked systems with the proposed adaptive control laws. A simulation example is given to illustrate the disturbance rejection performance.