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This paper studies the consensus tracking problem of a class of multi-agent systems where the dynamics of the leader and the followers are described respectively by integer and fractional order differential equations. It is shown that leader-following consensus tracking can be ensured if some carefully selected followers are informed and the relative position-based protocols are appropriately designed...
The consensus speed of leader-following multi-agent systems with double-integrator dynamics is considered. Based on the feature of leader-following multi-agent system with fixed undirected topology, an improved algorithm is proposed, which is more effective than the traditional algorithm. The maximum consensus speed (maximum convergence speed) of the improved algorithm is also achieved and it is compared...
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