Distributed Consensus Seeking With Different Convergence Performance Requirements: A Unified Control Framework.

In this article, we investigate distributed consensus seeking with multiple convergence performance requirements for single-integrator multiagent systems under undirected graphs. A unified distributed control framework is proposed to ensure consensus or practical consensus as well as performance time requirements, which contains most existing complex protocol schemes as special cases. In the proposed framework, three functions with specific properties in the controller play different roles and can be freely designed to achieve desired convergence performances, which guarantee a high-level scalability for multiple control requirements in addition to convergence time.