Necessary and Sufficient Conditions for Leader–Follower Consensus of Discrete-Time Multiagent Systems With Smart Leader

Abstract

In this article, the leader-follower consensus is investigated for discrete-time second-order multiagent systems with smart leader, where the smart leader can obtain the feedback information from its neighbours. Different from the existing results, an objective function is provided to determine whether the leader utilizes the feedback information from its neighboring agents, with the purpose of making the system have better performance. Under the directed interconnected topology, a novel distributed consensus protocol is designed for second-order discrete-time multiagent systems. Some necessary and sufficient conditions are derived for the leader-follower consensus of discrete-time second-order multiagent systems with smart leader under fixed/switching topology. Finally, two simulation examples are presented to demonstrate the feasibility of the theoretical results.