Second-Order Consensus for Multiagent Systems under Directed and Switching Topologies

We consider multiagent consensus problems in a decentralized fashion. The interconnection topology among the agents is switching and directed. The agent dynamics is expressed in the form of a double-integrator model. Two different cases are considered: one is the leader-following case and the other is the leaderless case. Based on graph theory and the common Lyapunov function method, some sufficient conditions are established for the consensus stability of the considered systems with the neighbor-based feedback laws in both leader-following case and leaderless case, respectively. As special cases, the consensus conditions for balanced and undirected interconnection topology cases can be established directly. Finally, two numerical examples are given to illustrate the obtained results.