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    Summary
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    This study introduces a unified control framework for multiagent systems to achieve distributed consensus with multiple performance requirements. The flexible design ensures scalable and efficient convergence time for various consensus-seeking scenarios.

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    Area of Science:

    • Control Theory
    • Distributed Systems
    • Robotics

    Background:

    • Distributed consensus is crucial for multiagent systems coordination.
    • Existing protocols often lack flexibility for multiple performance requirements.

    Purpose of the Study:

    • To develop a unified distributed control framework for single-integrator multiagent systems.
    • To ensure consensus or practical consensus with specific time performance requirements.

    Main Methods:

    • A unified distributed control framework with three freely designable functions.
    • Analysis of convergence properties including exponential, finite-time, fixed-time, and appointed-time consensus.

    Main Results:

    • The proposed framework unifies and generalizes existing complex protocols.
    • Demonstrated scalability for multiple control requirements beyond convergence time.
    • Numerical simulations verified the effectiveness of the theoretical analysis.

    Conclusions:

    • The unified framework offers a flexible and scalable approach to distributed consensus.
    • The method effectively addresses multiple convergence performance requirements in multiagent systems.