Single agent control for cyclic consensus systems

摘要

This paper studies on the stability, robustness and performance of general cyclic consensus systems, when a single agent in the system is directly controlled by an external controller and all other agents follow a consensus protocol. It is shown that those controlled consensus systems have an infinite gain margin and a guaranteed phase margin. In addition, for the unit step reference, the tracking performance with a proportional controller is related to the topology of inter-agent connections and a fundamental performance limitation is analytically found. Moreover illustrative numerical examples suggest that a one-way communication may negatively affect the overall performance of controlled consensus systems.