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In this paper, we consider the output synchronization problem for a networkof heterogeneous diffusively-coupled nonlinear agents. Specifically, we showhow the (non-identical) agents can be controlled in such a way that theiroutputs asymptotically track the output of a prescribed nonlinear exosystem.The problem is solved in two steps. In the first step, the problem of achievingconsensus among (identical) nonlinear reference generators is addressed. Inthis respect, it is shown how the techniques recently developed to solve theconsensus problem among linear agents can be extended to agents modeled bynonlinear d-dimensional differential equations, under the assumption that thecommunication graph is connected. In the second step, the theory of nonlinearoutput regulation is applied in a decentralized control mode, to force theoutput of each agent of the network to robustly track the (synchronized) outputof a local reference model.

Robust output synchronization of a network of heterogeneous nonlinear agents via nonlinear regulation theory