Practical Synchronization of Heterogeneous Multi-agent System Using Adaptive Law for Coupling Gains

Practical synchronization of the heterogeneous multi-agent system is studied in this paper. In particular, we propose an adaptive law to adjust the coupling gains to achieve practical synchronization in a fully distributed manner without the need of any global information such as the total number of agents in the network or the algebraic connectivity of the communication topology. In addition, a distributed protocol is proposed such that the performance of practical synchronization becomes independent of any global information as well as the addition of new agent.N