Consensus Analysis and Control for Second-Order Fully Actuated Multi-agent Systems

Since the consensus problem of first-order multi-agent systems is simple, it has been studied extensively. However, there are few research results for high-order multi-agent systems. This paper concerned with the consensus problem for a class of second-order fully actuated multi-agent systems with directed interaction topology. Based on matrix algebra and graph theory, a fully actuated system theory is adopted to transform second-order nonlinear multi-agent systems into second-order linear multiagent systems. On this basis, necessary and sufficient conditions are established to design a distributed consensus protocol, which can ensure that the second-order fully actuated multi-agent systems achieve consensus. Moreover, a numerical example is provided to show the effectiveness and feasibility of the proposed control design method.