Consensus control and feedback graph co-design for MIMO discrete-time multi-agent systems

This paper studies consensus control for multi-input/multi-output (MIMO) discrete-time multi-agent systems (MASs). It makes use of the novel idea of resource allocation in designing both the communication graph and feedback controller. The weakest consensusability condition is obtained for MASs over both directed and undirected graphs, which extends the existing results to MIMO discrete-time MASs. Explicit synthesis procedures are also developed. Our work demonstrates the importance of the graph and controller co-design based on resource allocation for MIMO discrete-time MASs