On two-degrees-of-freedom agreement protocols

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.