摘要：AbstractThis paper is concerned with the consensus problem of a multi-agent system where some nodes can act as leaders and they are allowed to inject input signals to improve some group dynamics performances. After a brief introduction of some controller structures, the analysis is focused on those control laws allowing the group to reach a consensus on a linear function of the initial conditions of the whole group. Afterwards, the group dynamics is analyzed in terms of characteristic polynomial of the controlled system. As a straight application to compare them, we consider the design of a set of controllers to achieve a finite time consensus. Finally, an example together with simulation results are reported to validate theoretical results.
