Guaranteed Cost Consensus for Multiple Linear Agents with Given Budgets

The guaranteed cost consensus problem for multiagent systems with given budgets is investigated. The guaranteed cost function is introduced based on state errors between the first agent and the other agents, and a cost budget is given to be the upper bound for the guaranteed cost function. Some criterions for the guaranteed cost consensus are obtained and the impact on the consensus control is analyzed. In order to describe the whole motion of multiple linear agents, an analytic expression for consensus function was given.