Group consensus of multi-agent system with double-integrator dynamics under directed topology

Without the in-degree balanced assumption, the group consensus protocol design problem is discussed for multi-agent systems with double-integrator dynamics. Based on the dynamic model of double-integrator system, a group consensus control protocol containing the couple coefficient γ is designed. The convergence analysis is discussed and the sufficient conditions of group convergence for double-integrator system are obtained. And we know that the sufficient conditions of group convergence are depended on the interactive topology and the couple coefficient γ. Meanwhile, the couple coefficient γ can affect the convergence speed of the system. Finally some numerical simulations are given to show the effectiveness of the theoretical analyze.