Consensusability of Discrete-Time Dynamic Multiagent Systems

This technical note investigates the problems when the discrete-time multiagent dynamic systems are consensusable, and how to synthesize the consensus feedback control law when the consensusability condition holds. We focus on multiagent systems (MASs) over the undirected graph of the communication topology and derive the consensusability condition for single-input dynamic agent systems under state feedback. By introducing a properly designed dynamic filter into the local control protocols, the consensusability condition can be relaxed. A design procedure is given for the filter and an example shows that it allows consensus whereas standard state feedback protocols do not.