A distributed disagreement-based protocol for synchronization of uncertain heterogeneous agents

Simone Baldi, Ilario A. Azzollini, Elias B. Kosmatopoulos

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

5 Citations (Scopus)
36 Downloads (Pure)


In networks with heterogeneous and uncertain agents, fixed-gain control can lead to synchronization only if the uncertainties are relatively small. If the uncertainties are larger, we need to develop adaptive-gain approaches to achieve synchronization. In this work we propose an adaptive synchronization protocol, in case of full-state measurement, for uncertain heterogeneous agents based on a distributed disagreement reasoning. Specifically, we first define unknown gains (feedback and coupling gains) that could lead all agents to a homogeneous behavior and thus synchronization: however, since these gains are unknown in view of the unknown dynamics, we design adaptive laws for these gains that lead the agents toward synchronization. The adaptive laws are driven by a disagreement error which is calculated among neighbors: a Lyapunov analysis is presented for showing convergence of the synchronization error to zero.

Original languageEnglish
Title of host publicationProceedings of 2018 European Control Conference (ECC2018)
Place of PublicationPiscataway, NJ, USA
ISBN (Electronic)978-3-9524-2698-2
ISBN (Print)978-3-9524-2699-9
Publication statusPublished - 2018
Event16th European Control Conference, ECC 2018 - Limassol, Cyprus
Duration: 12 Jun 201815 Jun 2018


Conference16th European Control Conference, ECC 2018
Abbreviated titleECC 2018
Internet address

Bibliographical note

Accepted Author Manuscript


  • Adaptive synchronization
  • distributed disagreement
  • uncertain heterogeneous agents


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