An internal-model principle for the synchronisation of autonomous agents with individual dynamics

The task of synchronising autonomous agents is solved by a networked controller that steers the agents towards a common trajectory. This paper extends existing analysis and design methods for sets of linear agents with individual dynamics. To formulate the basic condition under which agents can be synchronised, the notion of system inclusion is introduced. It is shown that the agents can be synchronised in a leader-follower structure by an appropriate networked controller if and only if the dynamics of the extended agents include the dynamics of the synchronous trajectory. The results are illustrated by their application to vehicle platooning.