New Consensus Algorithms for Multi-Agents Systems with Second-Order Dynamics

Abstract

This paper is concerned with consensus seeking in multi-agent systems with second-order dynamics under different interaction topologies. In the case of different graphs being used for the interaction topologies for the position and velocity information flows, the focus is placed upon developing a new consensus algorithm for multi-agent systems under some sufficient conditions on the fixed interaction topologies. In the case of the same graph being used for the interaction topologies for the position and velocity information flows, an in-depth study is made of the convergence of consensus of multi-agent systems under the fixed interaction topologies. A numerical example is provided to illustrate the effectiveness of the consensus algorithms.