Abstract
A local control strategy is presented to switch the consensus value for the first-order multi-agent system. When the local proportional controller is employed in the multi-agent systems, the Laplacian matrix of the system is changed. It is proved that the changed Laplacian has the same properties as the Laplacian matrix of the original multi-agent system for the consensus. Based on this, the parameter of the local controller, which can guarantee that all the agents change the original consensus value into the desired one, is determined in terms of the matrix calculation and the stability criterion. In practice, the control system must be implemented in the discrete form. Thus, the influence of the sampling period on the stability of the discrete multi-agent system with the local controller is analysed. The simulation results show the validity of the proposed method.
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