Dynamic Pinning Consensus Control of Multi-Agent Systems

In this letter, consensus pinning control for a single agent in a multi-agent system is discussed. The consensus speed by static pinning control is bounded in general. We propose dynamic pinning control using a minimum order observer and an integrator to increase the consensus speed. Furthermore, we show that the consensus speed using dynamic pinning control increases up to the absolute value of the largest real part of all canceled pole-zero pairs of the reducible transfer function. We show that dynamic pinning control achieves faster consensus than static pinning control if a network structure is a complete k-partite graph. It is shown, however, that an overshoot occurs at a pinning agent and increases as the consensus speed increases.