Second-order Consensus in Discrete-time Multi-agent Systems with Reference States

In this work, the second-order consensus in discrete-time multi-agent system (MAS) with reference states in which only a part of agents have access to is researched. According to the proposed network topology, it is unnecessary to utilize a spanning tree in the directed graph. First, three different protocols are adopted to demonstrate three typical cases on reference states. Then, necessary sufficient conditions to achieve the required consensus with reference states are derived in MASs. At last, several examples are calculated to verify the proposed theory.