Abstract Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the presence of uncertainties in each system among the conventional problems that can arise in cooperative networks. Two methodologies are presented to deal with the uncertainties: A strategy based on robust optimal control and a strategy based on neural networks. Likewise, an input estimation methodology is designed to face the disconnection that any agent may present on the network. These control laws can guarantee synchronization between agents even when there are disturbances or no communication from any agent. Stability and boundary analyzes are performed. Cooperative cruise control simulation results are shown to validate the performance of the proposed control methods.

中文翻译：

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异构多智能体系统的自适应同步：一种自由观察者方法

摘要 研究了异构多代理网络的自适应同步协议。每个代理之间的交互是通过有向图进行的。在合作网络中可能出现的传统问题中，我们强调了代理之间缺乏通信以及每个系统中存在的不确定性。提出了两种方法来处理不确定性：基于鲁棒最优控制的策略和基于神经网络的策略。同样，输入估计方法旨在面对任何代理可能出现在网络上的断开连接。即使存在干扰或没有来自任何代理的通信，这些控制律也可以保证代理之间的同步。执行稳定性和边界分析。