ABSTRACT
This chapter considers the consensus control problem for multi-agent systems with general continuous-time linear agent dynamics. It proposes the consensus protocols in a distributed fashion, using only the local information of each agent and its neighbors. Due to the large number of agents, limited sensing capability of sensors, and short wireless communication ranges, fully distributed consensus protocols, which can be designed and implemented by each agent using only local information of its own and neighbors, are more desirable and have been widely recognized. The chapter proposes distributed consensus protocols based on the relative state and output information, combined with an adaptive law for adjusting the coupling weights between neighboring agents. It considers the consensus problem under the edge-based adaptive protocol with switching communication graphs. Fully distributed consensus protocols have the advantages of high robustness, strong adaptivity, and flexible scalability.
