Synchronization of a network of nonlinear agents with input disturbances

This paper considers the synchronization of a network of nonlinear systems with disturbances in input and measured output. We assume that every agent satisfies passivity property. By defining a controlled output, the synchronization problem is converted to H_∞ control problem. We design a distributed dynamical output-feedback control protocol such that the closed-loop system satisfies a guaranteed H_∞ performance. In addition, we design a distributed static output-feedback control protocol such that the closed-loop system satisfies a guaranteed H_∞ performance in the case that the measured output is not influenced by disturbance. A numerical example about Goodwin oscillators is presented to illustrate the effectiveness of the proposed control law.