Adaptive Synchronization of Heterogeneous Multi-Agent Systems: A Free Observer Approach

Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the presence of uncertainties in each system among the conventional problems that can arise in cooperative networks. Two methodologies are presented to deal with the uncertainties: A strategy based on robust optimal control and a strategy based on neural networks. Likewise, an input estimation methodology is designed to face the disconnection that any agent may present on the network. These control laws can guarantee synchronization between agents even when there are disturbances or no communication from any agent. Stability and boundary analyzes are performed. Cooperative cruise control simulation results are shown to validate the performance of the proposed control methods.