Distributed consensus of multi-agent systems with increased convergence rate

Consensus problem with faster convergence rate of consensus problem has been considered in this paper. Adding more edges such as that connecting each agent and its second-nearest neighbor or changing the consensus protocol such as mixing asymptotic terms and terms of finite-time has been proved to be possible ways in increasing the convergence rate of multi-agent system in this paper. Based on analysis of Laplacian matrix, increasing of the convergence rate has been proved using the second-smallest eigenvalue for the first method. Concerning the second method, advantages of asymptotic consensus protocol and finite-time consensus protocol have been mixed together with the help of homogeneity function and theory of Lyapunov. Simulation results using matlab are also presented to illustrate the newly designed consensus protocols in increasing the convergence rate.