Exponential Consensus through Z-Control in High-Order Multi-Agent Systems

Abstract

In this work, we introduce a Z-control strategy for multi-agent systems of arbitrary order, aimed at driving the agents toward consensus in the highest-order observable state. The proposed framework supports both direct and indirect control schemes, making it applicable in scenarios where high-order derivatives such as acceleration cannot be directly manipulated. Theoretical analysis ensures exponential convergence while preserving the average dynamics, and a hierarchy of control laws is derived accordingly. Numerical experiments up to third-order models, including opinion dynamics and Cucker-Smale flocking systems, demonstrate the robustness and flexibility of Z-control under varying interaction regimes and control intensities.