On consensus speed of multi-agent systems with double-integrator dynamics. (English) Zbl 1201.93011

Summary: The performance of multi-agent systems is an important issue. In this paper, it is focused on consensus speed for multi-agent systems with double-integrator dynamics and fixed undirected graphes under a kind of consensus protocols. It is revealed that, under some conditions, the maximum consensus speed is determined by the largest and the smallest nonzero eigenvalues of the Laplacian matrix of the undirected connected graph. Based on the mentioned results, arbitrary desired consensus speed can be achieved by choosing suitable feedback gains. Numerical simulations are given to illustrate the main results.


93A14 Decentralized systems
93C15 Control/observation systems governed by ordinary differential equations
34K35 Control problems for functional-differential equations
Full Text: DOI


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