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Distributed Control of Second-Order Multi-Agent Systems: Fractional Integral Action and Consensus

This article addresses the consensus problem in multi-agent systems modeled with double-integrator dynamics under constant disturbances. Therefore, a fractional control protocol to enhance the convergence speed and robustness of the system is proposed. The communication topology of the system is represented by an undirected connected graph. In addition, the convergence of the system is analyzed with the stability boundary locus method, through which analytical expressions are deduced to ensure the stability of the agents group. Finally, an example is provided to illustrate the validity of the theoretical results.