Scale-free Protocol Design for H∞ Almost Output and Regulated Output Synchronization of Heterogeneous Multi-agent Systems

This paper studies scale-free protocol design for H∞ almost output and regulated output synchronization of heterogeneous multi-agent systems with linear, right-invertible and introspective agents in presence of external disturbances. The collaborative linear dynamic protocol designs are based on localized information exchange over the same communication network, which do not require any knowledge of the directed network topology and spectrum of the associated Laplacian matrix. Moreover, the proposed scale-free protocols achieve H∞ almost synchronization with a given arbitrary degree of accuracy for any size of the network.