Group tracking control of second-order multi-agent systems

This paper focuses on studying the group consensus tracking issue of discrete time second-order multi-agent systems (MASs) under directed fixed and Markovian switching topologies, respectively. For MASs with m leaders, we first introduce a method to divide the whole MASs into m subgroups. Based on the subgroup-divided method, the condensation directed graph G of the communication topology of the whole MASs becomes a directed acyclic graph (DAG). Then, for MASs with fixed/Markovian switching topology, some sufficient/necessary and sufficient group consensus tracking criteria are established.