On two-degrees-of-freedom agreement protocols

2025/11/16 by Gal Barkai, Barkai, Gal, Leonid Mirkin +3
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #Stability and Control of Uncertain Systems #Advanced Adaptive Filtering Techniques

paper · pdf · doi:10.48550/arxiv.2511.12632

Abstract

We propose a distributed two-degrees-of-freedom (2DOF) architecture for driving autonomous, possibly heterogeneous, agents to agreement. The scheme mirrors classical servo structures, separating local feedback from network filtering. This separation enables independent network-filter design for prescribed noise attenuation and allows controller heterogeneity to reject local disturbances, including disturbances exciting unstable agreement poles -- which is known to be impossible via standard diffusive couplings. The potential of the framework is illustrated via two numerical examples.

Citations

• On the Internal Stability of Diffusively Coupled Multi-Agent Systems and the Dangers of Cancel Culture
• Undirected Rigid Formations are Problematic
• Robust output synchronization of a network of heterogeneous nonlinear agents via nonlinear regulation theory
• Coordination and Consensus of Networked Agents with Noisy Measurements: Stochastic Algorithms and Asymptotic Behavior
• Synchronization in Networks of Identical Linear Systems
• Consensus and Cooperation in Networked Multi-Agent Systems

Related

• Average Consensus: A Little Learning Goes A Long Way
• A closed-loop design for scalable high-order consensus
• Reaching a Consensus with Limited Information
• Exploiting Over-The-Air Consensus for Collision Avoidance and Formation Control in Multi-Agent Systems
• Distributed control of multi-consensus