A distributed disagreement-based protocol for synchronization of uncertain heterogeneous agents

Conference paper (2018)

Authors

Elias B. Kosmatopoulos Kosmatopoulos Democritus University of Thrace, Centre for Research and Technology-Hellas
Copyright: © 2018 S. Baldi, Ilario A. Azzollini, Elias B. Kosmatopoulos
DOI: https://doi.org/10.23919/ECC.2018.8550572
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Published Date

2018

Language

English

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Abstract

In networks with heterogeneous and uncertain agents, fixed-gain control can lead to synchronization only if the uncertainties are relatively small. If the uncertainties are larger, we need to develop adaptive-gain approaches to achieve synchronization. In this work we propose an adaptive synchronization protocol, in case of full-state measurement, for uncertain heterogeneous agents based on a distributed disagreement reasoning. Specifically, we first define unknown gains (feedback and coupling gains) that could lead all agents to a homogeneous behavior and thus synchronization: however, since these gains are unknown in view of the unknown dynamics, we design adaptive laws for these gains that lead the agents toward synchronization. The adaptive laws are driven by a disagreement error which is calculated among neighbors: a Lyapunov analysis is presented for showing convergence of the synchronization error to zero.

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