An edge-based augmented system approach for second-order nodal consensus.

Many works on multi-agent consensus protocol designs rely on the full states of nodes or the node- observer-based procedures, under both of which the nodal information plays a key role in the consensus design. In this paper, we propose an edge-based augmented system approach for second-order nodal consensus, based on the edge loop transfer matrix of the closed-loop multi-agent system, which is defined by cutting the loop at the inputs of the edges. Each agent is allowed to be of single-output and additional poles and zeros are introduced into edges to construct the channel filter with previous data stored in the memories. We firstly focus on the consensus design by reserving two terms of the non-recursive filter and then propose a simplified design approach exploiting a single parameter, which is of low complexity and can be readily implemented. We also discuss the consensus design by using the non-recursive channel filter with higher-order realizations. Finally, as an extension, we discuss the consensus design based on the first-order recursive channel filter. The effectiveness of the proposed method is verified by the illustrative simulations. [ABSTRACT FROM AUTHOR]