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Volume 9 Issue 2
Feb.  2022

IEEE/CAA Journal of Automatica Sinica

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Gianvito Difilippo, Maria Pia Fanti and Agostino Marcello Mangini, "Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems," IEEE/CAA J. Autom. Sinica, vol. 9, no. 2, pp. 259-269, Feb. 2022. doi: 10.1109/JAS.2021.1004320
Citation: Gianvito Difilippo, Maria Pia Fanti and Agostino Marcello Mangini, "Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems," IEEE/CAA J. Autom. Sinica, vol. 9, no. 2, pp. 259-269, Feb. 2022. doi: 10.1109/JAS.2021.1004320

Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems

doi: 10.1109/JAS.2021.1004320
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  • The paper deals with the consensus problem in a leaderless network of agents that have to reach a common velocity while forming a uniformly spaced string. Moreover, the final common velocity (reference velocity) is determined by the agents in a distributed and leaderless way. Then, the consensus protocol parameters are optimized for networks characterized by a communication topology described by a class of directed graphs having a directed spanning tree, in order to maximize the convergence rate and avoid oscillations. The advantages of the optimized consensus protocol are enlightened by some simulation results and comparison with a protocol proposed in the related literature. The presented protocol can be applied to coordinate agents such as mobile robots, automated guided vehicles (AGVs) and autonomous vehicles that have to move with the same velocity and a common inter-space gap.


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    • The presented consensus protocol allows to the agents to form a uniformly spaced string
    • The agents decide a non-predetermined common reference velocity and reach the common velocity
    • The conditions ensuring that the proposed second order consensus is achieved are proved
    • Protocol parameters to obtain the fastest convergence avoiding oscillations are optimized


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