Average Consensus of Heterogeneous Discrete-Time Linear Multi-Agent Systems with Balanced Directed Networks

This paper proposes an average consensus over a class of discrete time multi-agent systems: heterogeneous, linear, and operating on balanced directed networks. This work aims to steer the agents towards a common position, the average of their initial locations, while driving their higher-order states approach zero. Each agent makes a decision based on its state and an auxiliary variable that it shares with neighboring agents. Balanced directed communication graphs with spanning trees can achieve stationary average consensus under proposed controller gains. Simulation result confirms that the proposed method achieves its goals effectively.