Consensus for Agents with Double Integrator Dynamics in Heterogeneous Networks
Darina Goldin, Jörg Raisch · Asian Journal of Control · 2012
Abstract This paper studies the convergence properties of consensus algorithms for agents with double integrator dynamics communicating over networks modelled by undirected graphs. The positions and velocities of the agents are shared along heterogeneous, i.e. different, undirected communication networks. The main result is that consensus can be achieved, even though the networks along which position and velocity information are shared are different, and not even connected. Insights on the consensus rate are given based only on the topological properties of the network.