LQR_based consensus algorithms of muti-agent systems with a prescribed convergence speed

This paper studies the consensus problem of muti-agent systems with identical linear invariant dynamics. Both with and without a leader situation are considered. The controllers are designed with static relative output feedback. The communication topology is assumed to be fixed and contain a directed spanning tree. An optimal design method is introduced to design feedback gain so that the system can converge to the consensus value with a prescribed convergence speed.