A Single-Leader Servo Approach to Multi-Agent Consensus Problems

In this paper, we discuss the linear consensus problem and group decision regulation in switching undirected multi-agent networks. A single-leader tracking servomechanism approach is introduced to solve this problem. Based on this approach, a stabilizing controller is designed. The proposed controller can achieve state consensus and regulate the group decision value to the desired value. A distinctive feature of this work is to regulate the group decision value without the information of initial states by a concise servomechanism and a virtual leader. As an example of the proposed scheme, the consensus of Unmanned Aerial Vehicles (UAVs) with switching topology is investigated. The numerical example illustrates the effectiveness of the proposed approach for tracking constant signals and piece-wise constant signals, respectively.