Design and Implementation of Consensus Control Protocol for First-order Linear Multi-agent Systems based on FPGA Hardware

In this paper, an efficient design hardware scheme for consensus algorithm for first-order linear multi-agent systems using Field Programmable Gate Array (FPGA) technology is presented. As the basis of collaboration and coordination between multi-agent, consensus algorithm is a protocol adopted by multi-agent to reach consensus on the state of agents based on local information. The algorithm is implemented in Altera's Cyclone IV E series FPGA chip using Verilog HDL language. Finally, the implemented algorithm is simulated through the Modelsim simulation platform and compared with the Matlab processing results, the consensus algorithm based on FPGA has achieved the expected results.