Consensus of Multi-agent System Based on A Novel State Feedback Protocol

For the second-order multi-agent system with directed fixed topology, a novel control protocol based on the past state with state feedback and current state of the agent is proposed and the consensus of the system is studied in this paper. Based on the frequency domain analysis method and Nyquist criterion, the sufficient conditions for the system are analyzed. Moreover, the protocol can speed up the environment of MATLAB, we take the system composed of seven agents as an example for simulation, and the results demonstrate the effectiveness and correctness of the proposed protocol.