Dynamic Consensus Seeking in Distributed Multi-agent Coordinated Control

Using directed graphs, we consider consensus seeking problem when the information state of each agent is driven by exogenous inputs, random noise, or nonlinear dynamics. We show conditions under which global dynamic consensus can be achieved and provide boundedness analyses for the inconsistency of the information states between agents when communication noise or inconsistent inputs exist. Simulation studies apply the dynamic consensus seeking concept to a multi-agent coordinated control scenario in the context of the distributed virtual leader/virtual structure approach and the behavioral approach respectively.