Robust output convergence of heterogeneous networks via nonsmooth hard-threshold couplings

We study a set-valued maximal monotone coupling law achieving robust output convergence in heterogeneous networks of dynamical systems with uncertainties and persistent disturbances. The coupling consists of an adaptable strategy built from normal cones to convex time-dependent sets (hard-threshold maps). To guarantee the convergence of the output mismatches to a neighborhood of the origin, only connectivity of the intrinsic graph is required (knowledge of the graph algebraic connectivity is not required), whereas only the output of the associated systems is used. Numerical simulations illustrate the effectiveness of the proposed coupling scheme.