(Un)conditional consensus emergence under perturbed and decentralized feedback controls

We study the problem of consensus emergence in multi-agent systems via external feedback controllers.We consider a set of agents interacting with dynamics given by a Cucker-Smale type of model, and study its consensus stabilization by means of centralized and decentralized control configurations.We present a characterization of consensus emergence for systems with different feedback structures, such as leader-based configurations, perturbed information feedback, and feedback computed upon spatially confined information.We characterize consensus emergence for this latter design as a parameter-dependent transition regime between self-regulation and centralized feedback stabilization.Numerical experiments illustrate the different features of the proposed designs.