Weighted Consensus Problem for Multiagent Systems with Edge- and Node-Weighted Directed Graphs

Abstract

In this paper, the concept of consensus is generalized to weighted consensus, by which the conventional consensus, the bipartite consensus, and the cluster consensus problems can be unified in the proposed weighted consensus frame. The dynamics of agents are modeled by the general linear time-invariant systems. The interaction topology is modeled by edge- and node-weighted directed graphs. Under both state feedback and output feedback control strategies, the weighted consensus problems are transformed into the equivalent conventional consensus problems. Then, some distributed state feedback and output feedback protocols are proposed to solve the weighted consensus problems. For output feedback case, a unified frame to construct the state-observer-based weighted consensus protocols is proposed, and different design approaches are discussed. As special cases, some related results for bipartite consensus and cluster consensus can be obtained directly. Finally, a simple example is given to illustrate the effectiveness of our proposed approaches.