Sufficient metric conditions for synchronization of leader-connected homogeneous nonlinear multi-agent systems

Mattia Giaccagli (1) , Vincent Andrieu (2, 1) , Daniele Astolfi (2, 1) , Giacomo Casadei (3)

1 LAGEPP - Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique
2 CNRS - Centre National de la Recherche Scientifique
3 AIS - Ampère, Département Automatique pour l'Ingénierie des Systèmes

We address the exponential synchronization problem of a leader-connected network of identical nonlinear systems. We suppose that each system can be made contractive by a static feedback law obtained via sufficient metric-based conditions. A distributed diffusive coupling feedback is then designed in order to solve the problem in two frameworks: the case of inputaffine systems allowed to exchange all the state information to its neighbour; and the case of nonlinear systems linear in the input allowed to exchange only a possibly nonlinear output.

Mots clés: Synchronization; contraction; multi-agent systems; incremental stability

Domaines: Systèmes et contrôle [cs.SY]

Mattia Giaccagli, Vincent Andrieu, Daniele Astolfi, Giacomo Casadei. Sufficient metric conditions for synchronization of leader-connected homogeneous nonlinear multi-agent systems. MICNON, Sep 2021, Tokyo (virtual), Japan. ⟨10.1016/j.ifacol.2021.10.389⟩. ⟨hal-03351594⟩