On consensus speed of leader-following multi-agent system with an improved algorithm

The consensus speed of leader-following multi-agent systems with double-integrator dynamics is considered. Based on the feature of leader-following multi-agent system with fixed undirected topology, an improved algorithm is proposed, which is more effective than the traditional algorithm. The maximum consensus speed (maximum convergence speed) of the improved algorithm is also achieved and it is compared to that of the traditional algorithms. Simulation shows the effectiveness and the correctness of the proposed results.