Second-order Consensus of Multi-agent System with Dynamic Network Topology

This paper investigates second-order leaderless and leader-following consensus in multi-agent systems with dynamic network topologies, where the communication weights are determined by the inter-agent distances. With the proposed leaderless consensus protocol, the states of all agents are ensured to agree on the state of the mass center of the system. By the leader-following consensus algorithm based on pinning control, all agents are guaranteed to asymptotically follow the virtual leader. Numerical results are given to verify the theoretical analysis.