Regulated Output Synchronization of Heterogeneous Multi-Agent Systems with Desired Convergence Rate via Scale-Free Protocol Design

This paper outlines scalable collaborative protocols for achieving regulated output synchronization in heterogeneous multi-agent systems (MAS) in presence of arbitrary desired convergence rates. The proposed protocol design is scale-free, i.e., only requires knowledge of the agents' models, without any networks information and the number of agents. With our protocols, only adjusting a single parameter allows output synchronization to be achieved at any convergence rates.