@ARTICLE{ iet:/content/journals/10.1049/iet-cta.2009.0466, author = {Z. Li}, author = {Z. Duan}, author = {G. Chen}, keywords = {protocol design;observer type consensus protocol;dynamic consensus;linear multiagent system;directed spanning tree;}, ISSN = {1751-8644}, language = {English}, abstract = {This study concerns the consensus of a network of agents with general linear or linearised dynamics, whose communication topology contains a directed spanning tree. An observer-type consensus protocol based on the relative outputs of the neighbouring agents is adopted. The notion of consensus region is introduced, as a measure for the robustness of the protocol and as a basis for the protocol design. For neutrally stable agents, it is shown that there exists a protocol achieving consensus together with a consensus region that is the entire open right-half plane if and only if each agent is stabilisable and detectable. An algorithm is further presented for constructing such a protocol. For consensus with a prescribed convergence speed, a multi-step protocol design procedure is given, which yields an unbounded consensus region and at the same time maintains a favourable decoupling property. Finally, the consensus algorithms are extended to solve the formation control problems.}, title = {Dynamic consensus of linear multi-agent systems}, journal = {IET Control Theory & Applications}, issue = {1}, volume = {5}, year = {2011}, month = {January}, pages = {19-28(9)}, publisher ={Institution of Engineering and Technology}, copyright = {© The Institution of Engineering and Technology}, url = {https://digital-library.theiet.org/;jsessionid=60d050kev4lgk.x-iet-live-01content/journals/10.1049/iet-cta.2009.0466} }