Swarming under Perfect Consensus using Integral Action

Prior work [1] studied the cohesiveness of swarm dynamics when a consensus filter [2] is guiding swarm movement. In that earlier work it was shown that the degree of consensus achieved was dependent on the swarm's size. This paper proves that if the swarm's communication graph is regular, then the introduction of integral action into the consensus filter achieves perfect consensus regardless of swarm size.

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