A simple second-order consensus and formation control for multi-vehicle systems
Jie Quan, Guo‐Ping Jiang · 2014
In this paper, we propose a simple consensus algorithm for systems modeled by second-order dynamics, and derive necessary and sufficient conditions under which consensus can be reached based on algebraic graph theory and matrix analysis. We apply the simple second-order consensus algorithm to tackle formation control problems. The second-order consensus protocol and a multi-vehicle system formation control example are shown in simulation to illustrate our strategies.