Time-synchronised consensus control of single integrator multi-agent system

This paper investigates time-synchronised consensus control for a single integrator multi-agent system. Using the norm-normalised signum function, the proposed control strategy is designed for both undirected and directed communication graphs. Due to the norm-normalised signum function, the consensus rate of every agent is the same and all agent’s state trajectrories converge to consensus simultaneously. Lyapunov stability proof of the proposed controller is given for undirected and directed communication graphs. Finally, the effectiveness of the proposed controller is validated with simulation examples.