On consensus in multi-agent systems with linear high-order agents

Abstract:
Consensus of a group of agents in a multi-agent system is considered. All agents are modeled by identical linear nth order dynamical systems and the interconnection topology between the agents is modeled as a directed weighted graph. We provide answers to the questions whether the group converges to consensus and what consensus value it eventually reaches. Furthermore, we give a necessary and sufficient condition for convergence to consensus in the double integrator case and propose an LMI-based design for group consensus in the general case. An example is used to illustrate the results.

Keywords:
Multi-agent systems; Cooperative systems; Coordination of multiple vehicle systems