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This paper discusses consensus problems for multi-input networked multi-agent systems with fixed topology. The digraph represents the topology of a networked system, and then both the stability and consensus convergence problems of multi-agent systems are all analyzed. A new consensus protocol is proposed and can be solved based on the method of bilinear matrix inequality (BMI). Furthermore, trajectory tracking and formation control for multi-agent systems are investigated. Finally, numerical simulations are provided to show the effectiveness of our strategies.