Multi-agent system control based on first-order consensus algorithm

The goal of this study is to investigate the control of multi-agent systems (MAS) using consensus algorithms, which have gained important attention due to their applications in robotics. We explored the basics of graph theory to understand the network structure of MAS and categorized the different types of MAS with examples. This study focuses on consensus algorithms, testing their principles, types, and simulations. We used MATLAB to simulate and implement first-order consensus algorithms, validating our personal code against the results from the ODE45 solver (ordinary differential equation solver) and AI-generated (Artificial intelligence generated) code. The results demonstrate convergence and accuracy for all methods, confirming that our approach is feasible and reliable. This research presents a deeper understanding of MAS control and offers a robust strategy for future real-world practical applications.