Leaderless Consensus Control of Dynamical Agents Under Directed Interaction Topology

Abstract

This paper investigates the leaderless consensus control problem for a group of agents under fixed or switching directed interaction topology, where each agent is modeled as a generic linear system rather than the single- or double-integrator dynamics. For the case with fixed topology, it is shown that consensus can be reached by assigning an appropriate feedback matrix if the interaction topology has a directed spanning tree; while for the switching case, by imposing the balanced condition on the interaction topology, sufficient conditions are provided for the agents to reach consensus under arbitrary switching signal. Furthermore, the consensus equilibria are specified for both cases.