Distributed Control Strategy for Multi-Agent Systems Using Consensus Among Followers

In this paper we introduce a novel distributed control strategy for coordinating the cooperative dynamic behavior in networked systems. The proposed control strategy is based on the leader-follower methodology with no communication between the leaders. Contrary to other solutions, the followers implement a dynamic consensus algorithm in such a way that each follower has full knowledge of the state of network of the followers. By using connection among leaders and followers each leader utilizes the information and implements a predefined control law. Simulation results show that this leads to the smaller mean square error in tracking the reference trajectory.