Synchronization of linear multi-agent systems with input nonlinearities via dynamic protocols

This paper is concerned with the local synchronization of linear agents subject to sector-bounded input nonlinearities over an undirected communication graph via dynamic output feedback protocol.We first derive a sufficient condition for achieving the local synchronization for any nonlinearities satisfying a given sector condition with a given dynamic protocol in terms of LMIs. Based on this analysis, we present a sufficient BMI synthesis condition of a dynamic protocol which locally synchronizes the linear agents with arbitrary sector-bounded input nonlinearities. Though the present BMI condition is non-convex, the condition is numerically tractable because it does not depend on the size of the communication graph except for computation of the Laplacian eigenvalues. © Springer International Publishing Switzerland 2015.