Cooperative Nearest-Neighbor Control of Multi-Agent Systems: Consensus and Formation Control Problems

Abstract: This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication network between agents is connected and the interior of the convex hull of all finite actions of each agent contains the zero element, consensus or distance-based formation problems can practically be stabilized by means of nearest-neighbor control approach combined with the well-known consensus control or distributed formation control laws, respectively. Furthermore, we provide the convergence bound for each corresponding error vector which can be computed based on the information of individual agent's finite control points. Finally, we show Monte Carlo numerical simulations that confirm our analysis.