Synchronization of multiple nonlinear agents

This paper investigated the synchronization problem among group of nonlinear agents. We showed a nonlinear transformation mapping the state of the original system into a linear state exists for general nonlinear systems, just as the linear case. Under the mild condition that the synchronized trajectory is globally defined for all time and two different trajectories of the agent dynamics (without control) diverges exponentially fast, synchronization is proved feasible in directed graphs.