Consensus of multi-agent linear dynamic systems

In this paper the consensus problem is considered for multi-agent systems, in which all agents have an identical linear dynamic mode that can be of any order. The main result is that if the adjacent topology of the graph is frequently connected then the consensus is achievable via local-information-based decentralized controls, provided that the linear dynamic mode is completely controllable. Consequently, many existing results become particular cases of this general result. In this paper, the case of fixed connected topology is discussed first. Then the case of switching connected topology is considered. Finally, the general case is studied where the graph topology is switching and only connected often enough.