On the Design of a Novel Control Algorithm and Communication Structure for Discrete-Time Multi-Agent Consensus Systems

Multi-agent consensus systems have been investigated in the continuous-time setting in regard to the control design, their scalability, and their robustness to interference. The discrete-time setting lacks the same depth of investigation. This paper investigates discrete-time multi-agent consensus systems. In particular, we propose a new controller design. The design uses a linear controller that is independent of the number of agents connected and imposes a single constraint on the communication structure. This is a step towards a scalable multi-agent consensus system that allows simple connection of additional agents without readjustments to the controller.

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