Group consensus of multi-agent systems with undirected communication graphs

We investigate a new consensus problem in networks of dynamic agents, where the agents in a network can reach more than one consistent values asymptotically. It contains such consensus problem as a special case that all agents in a network reach a consistent value asymptotically. When information exchange is undirected, a novel consensus protocol is designed to solve the group consensus problem. The convergence analysis is discussed and several criterions are established based on graph theories and matrix theories. Simulation results are presented to demonstrate the effectiveness of the theoretical results.