Almost output synchronization for heterogeneous time‐varying networks for a class of non‐introspective, nonlinear agents without exchange of controller states

Summary We consider almost output synchronization for directed heterogeneous time‐varying networks where agents are non‐introspective (i.e., agents have no access to their own states or outputs) in the presence of external disturbances. The nonlinear agents have a triangular structure and are globally Lipschitz continuous. The network can be time‐varying with network switches occurring at arbitrary moments. A purely decentralized time‐invariant protocol based on a low‐gain and high‐gain method is designed for each agent to achieve almost output synchronization while reducing the impact of disturbances on the output synchronization error. Copyright © 2016 John Wiley & Sons, Ltd.