Regulated state synchronization of homogeneous multiagent systems with partial-state coupling via low-gain adaptive protocol

Abstract

This paper studies regulated state synchronization for continuous-time homogeneous multiagent systems with weakly unstable agents where the reference trajectory is given by a so-called exosystem. The agents share part of their state over a communication network. We assume that the communication topology is completely unknown and directed. An algebraic Riccati equation–based low-gain adaptive nonlinear dynamic protocol design is presented to achieve the regulated state synchronizations. Utilizing the adaptive control, our nonlinear dynamic protocol is universal and does not depend on any information about the communication topology or the number of agents.