Fast Consensus of High-Order Multiagent Systems

In this article, the fast consensus problem of high-order multiagent systems (MASs) under undirected topologies is considered. The direct link between the consensus convergence rate and the control gains is established. A gradient descent-based algorithm is proposed to optimize the convergence rate. By applying the Routh–Hurwitz stability criterion, the lower bound on the convergence rate is derived, and explicit control gains are derived as conditions to achieve the optimal convergence rate. Moreover, a protocol with time-varying control gains is designed to achieve the finite-time consensus. Explicit formulas for the time-varying control gains and the final consensus state are given. Numerical examples and simulation results are presented to illustrate the obtained theoretical results.