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This paper studies synchronization of homogeneous and heterogeneousdiscrete-time multi-agent systems. A class of linear dynamic protocol designmethodology is developed based on localized information exchange with neighborswhich does not need any knowledge of the directed network topology and thespectrum of the associated Laplacian matrix. The main contribution of thispaper is that the proposed protocols are scale-free and achieve synchronizationfor arbitrary number of agents.

Scale-free Collaborative Protocol Design for Synchronization of Homogeneous and Heterogeneous Discrete-time Multi-agent Systems