A distributed disagreement-based protocol for synchronization of uncertain heterogeneous agents
Simone Baldi (TU Delft - Team Bart De Schutter)
Ilario A. Azzollini (Student TU Delft)
Elias B. Kosmatopoulos (Centre for Research and Technology Hellas, Democritus University of Thrace)
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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.