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This paper provides a protocol to address the robust output feedback consensus problem for networked heterogeneous nonlinear negative-imaginary (NI) systems with free body dynamics. We extend the definition of nonlinear NI systems to allow for systems with free body motion. A new stability result is developed for the interconnection of a nonlinear NI system and a nonlinear output strictly negative-imaginary (OSNI) system. Also, a class of networked nonlinear OSNI controllers is proposed to achieve output feedback consensus for heterogeneous networked nonlinear NI systems. We show that in this control framework, the system outputs converge to the same limit trajectory. This consensus protocol is illustrated by a numerical example.
In this paper, we consider scalable output and regulated output synchronization problems for heterogeneous networks of right-invertible linear agents based on localized information exchange where in the case of regulated output synchronization, the r
This paper investigates an optimal consensus problem for a group of uncertain linear multi-agent systems. All agents are allowed to possess parametric uncertainties that range over an arbitrarily large compact set. The goal is to collectively minimiz
This paper studies scale-free protocol design for H_infty almost output and regulated output synchronization of heterogeneous multi-agent systems with linear, right-invertible, and introspective agents in presence of external disturbances. The collab
In this paper, an optimal output consensus problem is studied for discrete-time linear multiagent systems subject to external disturbances. Each agent is assigned with a local cost function which is known only to itself. Distributed protocols are to
Symbolic control is a an abstraction-based controller synthesis approach that provides, algorithmically, certifiable-by-construction controllers for cyber-physical systems. Current methodologies of symbolic control usually assume that full-state info