Fast Consistency of Second-order Multi-agent Systems based on Two-layer Neighbor Algorithm

Multi-agent system is widely used in UAV formation and microgrid, etc. The topology of multi-agent system will change due to the change of external environment, and the existence of communication delay and interference will affect the stability of multi-agent system. In order to realize the consistency problem of second-order multi-agent systems under time-varying delay, interference and topological switching, this paper proposes an improved two-layer neighbor second-order multi-agent fast consistency algorithm, which transforms the study of the consistency problem of multi-agent systems into the study of system stability. According to Lyapunov stability theory, algebraic graph theory and matrix theory, the stability is proved. Finally, a concrete example is given to verify that the position state and velocity state of the second-order multi-agent system based on the improved two-layer neighbor algorithm can converge to the consistency under time-varying delay, interference, topological switching and plug and play. And the response speed is faster than the traditional second-order multi-agent consistency algorithm.