Second-Order Consensus For Multi-Agent Systems By State-Dependent Topology Switching

This paper considers actively topology switching to achieve consensus for the second-order multi-agent systems. The control protocol introduced to the multi-agent systems is governed only by the relative positions of agents. Through the stability analysis of the second-order multi-agent systems under switching topology, we discover that the consensus can be achieved under certain topology-switching signals. Based on stability analysis, through employing a finite-time consensus network, a decentralized topology-switching algorithm is derived. Compared with the existing second-order consensus algorithms, the primary advantages of the topology-switching algorithm in achieving consensus are: 1) it has no constraint on the magnitude of coupling strength; 2) the control protocol relies only on relative position measurements, no velocity measurements are needed.