The consensus problem of a linear discrete-time multiagent system with directed communication topologies was investigated.A protocol was designed to solve consensus with an improved convergence speed achieved by designing protocol gains.The closed-loop multi-agent system converged to an expected type of consensus function,which was divided into four types:zero,nonzero constant vector,bounded trajectories,and ramp trajectories.An algorithm was further provided to construct the protocol gains,which were determined in terms of a classical pole placement algorithm and a modified algebraic Riccati equation.Finally,an example to illustrate the effectiveness of theoretical results was presented.
展开▼
