Discrete-Time Matrix-Weighted Consensus

This article investigates discrete-time matrix-weighted consensus of multi-agent networks over undirected and connected graphs. We first present protocols for the agents in common symmetric matrix weights with possibly different update rates switching network topologies. A special type non-symmetric matrix-weights that can render several control scenarios such as ones scaled/rotated updates affine motion constraints is also considered. employ Lyapunov stability theory systems occasionally utilize Lipschitz continuity gradient function to show convergence a system. Finally, simulation results are provided illustrate theoretical results.