ABSTRACT
This chapter considers the consensus of discrete-time linear multi-agent systems with directed communication topologies, which is the discrete-time counterpart of the continuous-time consensus. It outlines the consensus problem of discrete-time multi-agent systems. Based on the relative states of neighboring agents, the chapter proposes a distributed static consensus protocol. The chapter shows the communication graph among the agents to contain a directed spanning tree. It considers the case where each agent can have access to its own state and the states from its neighbors. For an undirected communication graph, the consensus region of the network is a bounded interval or a union of several intervals on the real axis. The chapter also considers the consensus problem for the case where each agent can have access to the local output information, that is, its own output and the outputs from its neighbors.
