Consensus of multiple second-order agents without velocity measurements
Yanping Gao, Long Wang, Yingmin Jia · 2009
This paper studies consensus problems of multiple second-order agents with time-varying topology. It is assumed that each possible interaction topology is strongly connected and balanced and each agent can only obtain the measurements of its position relative to its neighbors. A feasible protocol is proposed, and by applying the linear matrix inequality technique and the common Lyapunov function approach, some sufficient conditions for consensus are established. Simulations are provided to illustrate the effectiveness of the theoretical results.