Consensus-Based Distributed Control of Multi-agent Systems

A consensus-based distributed control algorithm for double-integrator multi-agent systems, motivated by a state-based weighted consensus algorithm of single-integrator dynamics, has been proposed in this paper. Its convergency has been proved by LaSalle’s Invariance principle. An interesting result has been obtained using the graph Laplacian matrix. Simulation results are provided to demonstrate the theoretical results and future research directions have been discussed.