Dynamic Pinning Consensus Control of Discrete-time Multi-agent Systems

In this paper, we consider the pinning control of a discrete-time multi-agent system with a single pinning agent. We propose two design methods of a dynamic pinning controller with a full order observer and an integrator. One is based on the infinite-horizon linear-quadratic optimization technique. The other is based on the deadbeat control method. It is shown that the convergence becomes better as the overall coupling strength among agents increases. It is shown by simulation that, as the length of the longest path among all paths from the pining agent to the other ones is smaller, the convergence to the desired value becomes better and the overshoot of the pining agent becomes smaller.