Regulated output synchronization for heterogeneous time-varying networks with non-introspective agents in presence of disturbance and measurement noise with known frequencies

This paper studies regulated output synchronization for heterogeneous directed networks with non-introspective agents (i.e. agents have no access to their own states or outputs) in the presence of disturbance and measurement noises with known frequencies. A purely decentralized time-invariant protocol based on a low-and-high gain method is designed for each agent to achieve regulated output synchronization, i.e. regulated output synchronization error asymptotically goes to zero. Moreover, this protocol allows time-varying network topologies.