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| Consensus Analysis of Second-Order Multi-Agent Systems |
| GAO Yanping, JIANG Tongqiang, WANG Wen, WEI Wei, ZHAO Hongye, ZHAO Zuoxi
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| College of Computer and Information Engineering, Beijing Technology and Business University, Beijing 100048, China |
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Abstract This paper studies the consensus problem of multiple agents with continuous-time second-order dynamics, where each agent can obtain its velocity at any time, and can only obtain its position relative to its neighbors at discrete times. Under the given controller, some sufficient and necessary conditions are established, which are further applied to formation control of multiple robots. Simulations are performed to validate the theoretical results.
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Received: 02 April 2013
Published: 22 June 2026
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