Consensusability of discrete-time linear multi-agent systems with multiple inputs

Abstract In this paper, consensusability of the discrete-time linear multi-agent systems (MASs) with multiple inputs are considered. Both the leaderless and leader-following consensus are taken into account, and the associated communication graphs can be undirected or directed. Using an appropriately designed weighted dynamic distributed protocol, it is proved that consensusability of the MASs completely hinges on consensusability of the designed distributed dynamic compensators. New consensusability conditions are derived which are inequalities associated with the maximum absolute unstable eigenvalue of the agent’s dynamics (rather than the product of all absolute unstable eigenvalues in literatures) and the eigen-ratio of the communication graph. Simulation examples are given to demonstrate the validity of the theoretical results.

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