Brief paper - r-consensus control for discrete-time high-order multi-agent systems

This study considers a consensus problem of discrete-time high-order multi-agent systems with digraph. A concept r-consensus for discrete-time multi-agent systems is introduced, and consensus protocols are proposed for solving such problems. A sufficient and necessary condition for r-consensus is obtained using matrix theory. As a special case, criteria of r-consensus for third-order systems are given, in which the exact relationship of feedback parameters is established. Finally, the effectiveness of the theoretical results is demonstrated through a numerical simulation.