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arXiv · 2511.12632

On two-degrees-of-freedom agreement protocols

Gal Barkai·Leonid Mirkin·Daniel Zelazo
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Abstract

We propose a distributed two-degrees-of-freedom (2DOF) architecture for driving autonomous, possibly heterogeneous, agents to agreement. The scheme mirrors classical servo structures, separating local feedback from network filtering. This separation enables independent network-filter design for prescribed noise attenuation and allows controller heterogeneity to reject local disturbances, including disturbances exciting unstable agreement poles -- which is known to be impossible via standard diffusive couplings. The potential of the framework is illustrated via two numerical examples.

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Gal Barkai, Leonid Mirkin, Daniel Zelazo. 2025-11-16. On two-degrees-of-freedom agreement protocols. https://arxiv.org/abs/2511.12632

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