Skip to Main Content
This paper studies consensus control for multi-input/multi-output (MIMO) discrete-time multi-agent systems (MASs). It makes use of the novel idea of resource allocation in designing both the communication graph and feedback controller. Explicit consensusability conditions are obtained for MASs over both directed and undirected graphs, which are shown to be the least conservative. Explicit synthesis procedures are also developed. Our results demonstrate the importance of the graph and controller co-design based on resource allocation for MIMO MASs.