Robust controlled synchronization of interconnected robotic systems

In this paper we study controlled synchronization of interconnected robotic systems with dynamic uncertainty. It is first demonstrated that a previously developed algorithm for robust tracking renders the closed loop system semi-passive. For the special case of two identical agents and in the absence of communication delays, the proposed control law ensures state synchronization for a large coupling gain. In the general case of heterogeneous agents communicating on balanced graphs, the control law guarantees ultimate boundedness of the synchronization and the tracking errors both in the delayed and the delay free case. Numerical examples are presented to verify the efficacy of the proposed control algorithms.