Distributed Robust Adaptive Error Estimation for Heterogeneous Cyber-physical Systems Over Time-Varying and Intermittent Pinning Communication

In this paper, a distributed robust and adaptive error estimation framework is proposed to investigate the cooperative analysis of quasi-synchronization behaviors (QSBs) for heterogeneous cyber-physical systems with uncertain dynamic networks, where a dynamic pinning control strategy that is driven by time-varying switching and intermittent communication is developed. Specifically, the distributed robust error estimation for QSBs is first formulated as the followers with uncertain dynamics to approximately synchronize with the target within a robust non-zero error bound under a dynamic coupling law in a distributed manner. By developing a switching condition of dwell time, a novel distributed error estimation algorithm is proposed to obtain the robust cooperative analysis for QSBs of heterogeneous cyber-physical systems with uncertain dynamic networks by designing a time-varying pinning controller and a dynamic coupling law. Furthermore, by introducing an intermittent condition of the communication rate, the robust adaptive cooperative analysis is addressed for QSBs of heterogeneous cyber-physical systems with uncertain dynamic networks, where the system dynamics are composed of nonidentical nonlinear systems, dealing with an intermittent pinning controller and an adaptive and discontinuous coupling law. The proposed strategy can remove the traditional limitation for the quasi-synchronization error estimation that requires a static coupling law and the global knowledge of the fixed communication topology. The development of the developed methodologies is illustrated through two case studies of simulation.