Simulink Simulation Block Diagram for Second-Order Multi-Agent System Consensus

This is a simple yet practical Simulink simulation block diagram for second-order multi-agent system consensus, which can be easily modified and used for various experiments. In this block diagram, each agent features its own input and output ports, achieving consensus through inter-agent communication protocols. The system can be utilized to study multi-agent collaboration effects, explore how different parameters (such as coupling gains and time delays) impact system performance, and conduct experiments to validate model accuracy. The implementation uses second-order integrator dynamics with consensus controllers, typically employing neighborhood state feedback based on graph Laplacian matrices. Furthermore, the block diagram can be customized according to specific requirements - users can add new agents, modify communication topologies (using adjacency matrix blocks), or adjust control strategies through gain parameter tuning. Key Simulink components include integrator blocks for agent dynamics, summing junctions for consensus protocols, and scope blocks for real-time performance monitoring. In summary, this block diagram provides researchers with a straightforward and effective tool for studying and experimenting with distributed consensus algorithms.