A Passivity-Agnostic Framework for Distributed Adaptive Synchronization under Unknown Leader Dynamics
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arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866908861266395136 |
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| author | Wafi, Moh Kamalul Siami, Milad |
| author_facet | Wafi, Moh Kamalul Siami, Milad |
| contents | We present a passivity-agnostic framework for distributed adaptive synchronization under position-only communication, bounded disturbances, and unknown leader dynamics. By passivity-agnostic we mean the design does not require the closed loop system to be strictly positive real (SPR) a priori: it certifies SPR when present and recovers it by frequency shaping when absent. Followers are heterogeneous second-order systems with unknown (possibly unstable) dynamics. In the SPR regime, a structured reparameterization yields gradient-based adaptive error dynamics; Lyapunov analysis guarantees global asymptotic synchronization in the disturbance-free case, exact rejection of constant disturbances, and bounded responses to time-varying disturbances, with parameter convergence under persistent excitation. In the non-SPR regime, frequency shaping recovers effective passivity of the unshaped transfer function, enabling the same stability guarantees via standard passivity/Lyapunov arguments using Meyer-Kalman-Yakubovich (MKY) Lemma. Simulations across star, cyclic, path, and arbitrary graphs demonstrate scalable synchronization, robust tracking, and parameter adaptation under multiple disturbance profiles, confirming that the frequency-shaped non-SPR designs match the performance of the SPR case. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_02344 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Passivity-Agnostic Framework for Distributed Adaptive Synchronization under Unknown Leader Dynamics Wafi, Moh Kamalul Siami, Milad Systems and Control We present a passivity-agnostic framework for distributed adaptive synchronization under position-only communication, bounded disturbances, and unknown leader dynamics. By passivity-agnostic we mean the design does not require the closed loop system to be strictly positive real (SPR) a priori: it certifies SPR when present and recovers it by frequency shaping when absent. Followers are heterogeneous second-order systems with unknown (possibly unstable) dynamics. In the SPR regime, a structured reparameterization yields gradient-based adaptive error dynamics; Lyapunov analysis guarantees global asymptotic synchronization in the disturbance-free case, exact rejection of constant disturbances, and bounded responses to time-varying disturbances, with parameter convergence under persistent excitation. In the non-SPR regime, frequency shaping recovers effective passivity of the unshaped transfer function, enabling the same stability guarantees via standard passivity/Lyapunov arguments using Meyer-Kalman-Yakubovich (MKY) Lemma. Simulations across star, cyclic, path, and arbitrary graphs demonstrate scalable synchronization, robust tracking, and parameter adaptation under multiple disturbance profiles, confirming that the frequency-shaped non-SPR designs match the performance of the SPR case. |
| title | A Passivity-Agnostic Framework for Distributed Adaptive Synchronization under Unknown Leader Dynamics |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.02344 |