Distributed consensus for double integrator dynamical systems without velocity information

In this paper, the distributed consensus problem for double integrator multi-agent systems is addressed in the light of a novel cooperative law, which relaxes the requirement on the velocity measurements of the agents. A necessary and sufficient condition is derived based on the proposed coordination law under the general directed communication topology via a real-time implementation perspective. In order to save communication burden, we further explicitly explore the cooperation condition where the execution mechanism is event-based and the graph is connected. Finally, two examples are depicted to show the feasibility of the designed consensus protocol.