Scale-Free Noncollaborative Linear Protocol Design for a Class of Homogeneous Multi-Agent Systems

In this article, we have focused on identifying a class of continuous- and discrete-time multi-agent systems for which a
scale-free noncollaborative
(i.e., scale-free fully distributed)
linear
protocol design is developed. We have identified conditions on agent models that enable us to design scalable linear protocols. Moreover, we show that these conditions are necessary if the agents are single input and single output. We also provide a complete design of scalable protocols for this class.