Consensus analysis of high-order linear swarm systems over random topologies

Consensus problems of discrete-time high-order linear swarm systems over random topologies are considered. Based on the relative information of neighboring agents, distributed dynamic consensus protocols are proposed. The state space decomposition method is applied to discrete-time high-order linear swarm systems, a necessary and sufficient condition for consensus over random topologies with probability 1 is given and the explicit expression of the consensus function is presented. Numerical simulations are shown to demonstrate theoretical results.