Abstract
This paper is concerned with the synchronization of heterogeneous agents interacting over a dynamical network, where the edge dynamics are heterogeneous, modeling the nonuniform communication environment between the agents. Novel synchronization conditions are obtained from a phasic perspective by utilizing a newly formulated small phase theorem. These conditions have lower conservatism compared to gain-based conditions and generalize positive real and negative imaginary type conditions. They scale well with the size of the network and reveal the trade-off between the phases of node dynamics and edge dynamics.
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