Robust synchronization of multiple agents with uncertain dynamics

This paper is concerned with robust synchronization of a system of uncertain agents whose mutual communications are constrained by the topology of the associated communication graph. The uncertainty of each agent is modeled as a gain-bounded multiplicative uncertainty. A sufficient condition for achieving the robust synchronization is derived based on the input-output stability argument under the assumption that the nominal dynamics of each agent is relaxed co-coercive. Based on this robust synchronization condition, we investigate the stability margin and the worst-case L2 performance of the closed-loop system for various network topologies of the communication graph.