Fast Consensus of High-Order Multiagent Systems

作者：Dai, Jiahao; Yi, Jing-Wen^*; Chai, Li^*

来源：IEEE Transactions on Control of Network Systems, 2023, 10(3): 1303-1312.

DOI：10.1109/TCNS.2022.3226941

• Convergence
• Protocols
• Eigenvalues and eigenfunctions
• Network systems
• Laplace equations
• Numerical stability
• Multi-agent systems
• Convergence rate
• fast consensus
• finite-time consensus
• high-order
• multiagent systems (MASs)

In this article, the fast consensus problem of high-order multiagent systems (MASs) under undirected topologies is considered. The direct link between the consensus convergence rate and the control gains is established. A gradient descent-based algorithm is proposed to optimize the convergence rate. By applying the Routh-Hurwitz stability criterion, the lower bound on the convergence rate is derived, and explicit control gains are derived as conditions to achieve the optimal convergence rate. Moreover, a protocol with time-varying control gains is designed to achieve the finite-time consensus. Explicit formulas for the time-varying control gains and the final consensus state are given. Numerical examples and simulation results are presented to illustrate the obtained theoretical results.

• 单位
  浙江大学