Synchronization for coupled nonlinear systems with disturbances in input and measured output

This paper considers the synchronization for coupled nonlinear systems with disturbances in input and measured output. By defining a controlled output, the synchronization problem is converted to a special suboptimal H∞H∞ control problem. Precisely speaking, for a given disturbance attenuation level, we need to design a distributed output-feedback protocol such that the closed-loop system asymptotically reaches output synchronization when there do not exist disturbances, and the L2-gain from disturbances to the controlled output is less than the given level. We first consider the case that each agent is incrementally passive. Secondly, we consider the case that each agent is feedback incrementally passive and the measured output is not influenced by disturbances. Finally, two numerical examples are presented to illustrate the effectiveness of the proposed control law.