γ-adaptive consensus control for leader-following multi-agent systems with adjustable convergence speed

摘要

By changing the network topology or getting more state information, the convergence speed can increase, but it cannot be adjusted flexibly. In order to overcome this problem, we investigate the convergence speed adjustment problem of first order leader-following multi-agent systems. Firstly, we propose a γ-adaptive consensus protocol, where the weights of the edges can adaptively change according to the state difference between neighbouring agents. Then, a sufficient condition for consensus is given and the convergence speed is proved can be quantitatively adjusted through changing the value of γ approximately. Finally, numerical simulations are presented to illustrate theoretical results.