Abstract

In this paper, we investigate the problem of position consensus for a group of agents modeled as higher order integrators. A distributed control methodology is proposed which combines static and dynamic feedback controllers. The design of the static feedback controller is independent of the underlying communication topology. The coupling among agents is accomplished in the dynamic controller. This combined structure of the control protocol ensures position consensus among agents with final velocity settling to zero. A reduction in the number of design parameters is also discussed. Numerical simulations justify the efficacy of the control protocol proposed in this paper.

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