Scalable control for synchronization in heterogenous networks of second-order uncertain nonlinear systems

This paper studies the synchronization problem for a heterogenous network with general interaction digraphs. The networked agents are assumed to be second-order uncertain nonlinear systems. Based on internal model design and dynamic gain technique, we develop an effective synchronization design, which can be easily scaled as the network size increases. Moreover, as long as the interaction digraph contains a directed spanning tree with the leader as the root, the synchronization can be reached without redesigning the control whenever an agent is added or removed. An example is given to show the efficiency of the proposed design.