Group consensus control for double-integrator dynamic multiagent systems with fixed communication topology

The problem of group consensus is investigated in this paper, where all agents possess double-integrator dynamics. Two different kinds of consensus protocols are proposed for networks with fixed communication topology to reach group consensus for the agents' positions and velocities. Convergence analysis is discussed, and necessary and/or sufficient conditions are presented for multiagent systems to achieve group consensus. The first protocol leads to dynamic consensus where positions of all agents reach time-varying consensus values. By applying the second protocol, both the agents' positions and their velocities reach constant consensus values. That is, static consensus is achieved. Simulation examples are given to show the effectiveness of the theoretical results.Copyright (c) 2012 John Wiley & Sons, Ltd.