Swarming under Perfect Consensus using Integral Action

Prior work [1] studied the cohesiveness of swarm dynamics when a consensus filter [2] is guiding swarm movement. In that earlier work it was shown that the degree of consensus achieved was dependent on the swarm´s size. This paper proves that if the swarm´s communication graph is regular, then the introduction of integral action into the consensus filter achieves perfect consensus regardless of swarm size.