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

This paper studies synchronization of homogeneous and heterogeneous discrete-time multi-agent systems. A class of linear dynamic protocol design methodology is developed based on localized information exchange with neighbors which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. The main contribution of this paper is that the proposed protocols are scale-free and achieve synchronization for arbitrary number of agents.