Consensus analysis for high-order multi-agent systems

Consensus problems for mobile multi-agent systems are practically significant in complicated kinetics systems. While the network communication topology is fixed, based on matrix decomposition theory, information flow consensus criteria is proposed for high-order multi-agent systems, which is a sufficient and necessary condition for asymptotic convergence. Under the assumption that the communication topology has a directed spanning tree, closed-loop transfer function is constructed for MIMO systems. Each weight of different state derivatives is analyzed for the influence on convergence stability. If the weights satisfy Hurwitz stability criteria, the system will achieve consensus asymptotically. Finally, simulation results verify the effectiveness of the conclusion.