Synchronization of Multi-Agent Systems With Heterogeneous Controllers

This paper studies the synchronization of a multiagent system where the agents are coupled through heterogeneous controller gains. Synchronization refers to the situation where all the agents in a group have a common velocity direction. We generalize existing results and show that by using heterogeneous controller gains, the final velocity direction at which the system of agents synchronize can be controlled. The effect of heterogeneous gains on the reachable set of this final velocity direction is further analyzed. We also show that for realistic systems, a limited control force to stabilize the agents to the synchronized condition can be achieved by confining these heterogeneous controller gains to an upper bound. Simulations are given to support the theoretical findings.