Consensus for Second-Order Integrator Agents with Switching Topologies and Delays
This paper considers the consensus problem in second-order systems with relative state delay and switching of asymmetric topologies. A new consensus protocol is proposed, and consensus conditions are derived, with rendezvous state dynamics obtained using an augmented consensus error metric and state transformation. The results give sufficient condition for consensus achieving under switching of asymmetric topologies and relative state delay, and provide the rendezvous state dynamics. Numerical examples illustrate the effectiveness of the theoretic results.
Authors
- Jianzhen Li (ORCID: https://orcid.org/0000-0002-4884-7505)
- Shuxia Ye (ORCID: https://orcid.org/0009-0005-9813-0739)
- Zhaoping Du (ORCID: https://orcid.org/0000-0002-0372-4931)
- Hengjie Xu (ORCID: https://orcid.org/0000-0002-0806-4274)
- Xueying Sun (ORCID: https://orcid.org/0000-0001-6485-9939)
- Changjiang Li (ORCID: https://orcid.org/0000-0003-4176-3082)
- Qi Fu (ORCID: https://orcid.org/0000-0002-5763-7518)
Institutions
- Jiangsu University of Science and Technology (CN)
Publication Details
- Published
- 2025-07-04
- DOI
- https://doi.org/10.1109/fasta65681.2025.11138613
- Primary Topic
- Distributed Control Multi-Agent Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00