Robust Sampled-Data Output Synchronization of Nonlinear Heterogeneous Multi-Agents

Abstract

The note studies the synchronization problem of a class of nonlinear heterogeneous multiple agents with distributed sampled-data controllers. Through the design of a group of reference models, the synchronization problem reduces to a perturbed output regulation problem for each individual agent. The perturbed output regulation problem aims to achieve reference tracking in the presence of constant unknown system parameters, where the references are generated by a non-autonomous exosystem with external perturbation. A dynamic sampled-data controller with a sampled-data internal model is proposed for the perturbed output regulation problem. An asymptotic bound on the tracking error as a function of the perturbation's magnitude and sampling period is derived.