{"ID":2841016,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.12632","arxiv_id":"2511.12632","title":"On two-degrees-of-freedom agreement protocols","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.","short_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 attenua...","url_abs":"https://arxiv.org/abs/2511.12632","url_pdf":"https://arxiv.org/pdf/2511.12632v1","authors":"[\"Gal Barkai\",\"Leonid Mirkin\",\"Daniel Zelazo\"]","published":"2025-11-16T14:59:14Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"math.OC\"]","methods":"[]","has_code":false}