On the robust synchronisation of multi-agent systems

Recently H.L. Trentelman and K. Takaba proposed a protocol that robustly synchronises uncertain linear multi-agent systems. Given a network we allow each of the agents to deviate (within a certain radius) from a given nominal linear dynamic system, while still achieving synchronisation. we present an implementation of Trentelman-Takaba protocol and study several examples. We also modify the protocol to make it suitable for solving formation control problems and generate an animation of an example problem where agents moving on a plane while trying to form a formation.