Fully distributed robust synchronization of networked Lur’e systems with incremental nonlinearities

This paper deals with robust synchronization problems for uncertain dynamical networks of diffusively interconnected identical Lur’e systems subject to incrementally passive nonlinearities and incrementally sector bounded nonlinearities, respectively, in a fully distributed fashion. Whereas in stabilization of one single Lur’e system the conditions of passivity and sector boundedness for the uncertain nonlinear function in the negative feedback loop are commonly assumed, in our context of networked Lur’e systems we adopt the stronger assumptions of incremental passivity and incremental sector boundedness. Throughout this paper the interconnection topologies among these Lur’e agents are assumed to be undirected and connected. We design robustly synchronizing protocols and subsequently implement these protocols in a fully distributed way by means of an adaptive control law that adjusts the coupling weights between neighboring agents. Both for the cases of incrementally passive as well as incrementally sector bounded nonlinearities we obtain sufficient conditions for the existence of fully distributed robustly synchronizing protocols. The state feedback matrices are computed by solving LMIs in terms of the matrices defining the individual agent dynamics. Numerical simulation examples illustrate our theoretical results.