Predictor-based synchronization algorithms for multiple harmonic oscillators with communication delay

Synchronization problem is investigated for multiple harmonic oscillators with identical communication delay, and two predictor-based distributed algorithms, which include asynchronously-compensated form and synchronously-compensated form, are proposed. To analyze the delay robustness intuitively, two predictor-based algorithms accompanied with the normal asynchronously-matched and synchronously-matched distributed algorithms are studied for a simplest interconnection topology that a oscillator follows a leader. Under general directed topology, delay-dependent sufficient conditions are obtained respectively for the synchronization algorithm in asynchronously-compensated and synchronously-compensated algorithms by using frequency-domain analysis. Numerical simulations illustrate the correctness of the theoretical analysis.