Slow state based consensus for two time-scale agent networks under directed graphs

This paper studies the consensus problem of multi-agent systems under directed graphs, where each agent has two time-scale features. Unlike some existing consensus protocols which use both the fast and slow states or only appropriate for undirected graphs, two novel consensus protocols based on slow states are proposed to achieve consensus of multi-agent systems with strongly connected directed graphs. The proposed protocols have the advantages of simple structure and implementation simplicity, and their efficiency is demonstrated by simulation results.