On the general consensus protocol of multi-agent systems with double-integrator dynamics. (English) Zbl 1165.93022

Summary: A general consensus protocol is considered for multi-agent systems with double-integrator dynamics. The advantage of this protocol is that different consensus dynamics including linear, periodic and positive exponential dynamics can be realized by choosing different gains. Necessary and sufficient conditions for solving the consensus problem with the considered general protocol are obtained, namely, all the gains realizing the consensus can be described. The design method of the consensus protocol is constructively given. Moreover, a periodic consensus protocol is obtained as a special case and it is revealed that the maximum convergence speed can be achieved by choosing suitable gains.


93B60 Eigenvalue problems
93B51 Design techniques (robust design, computer-aided design, etc.)
93A14 Decentralized systems
Full Text: DOI


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