Consensus of second-order multi-agent systems with asynchronous communication topology

In this paper, we first give the definition of asynchronous communication topology of second-order multi-agent systems. Then we discuss respectively the leaderless and leader-following consensus problems of the second-order multi-agent systems under asynchronous communication topology. The proposed control protocols based on nearest-neighbor interaction rules can guarantee the leaderless and leader-following consensus to be achieved, as long as the fixed position communication graph is undirected and connected, the switching velocity communication digraph is balanced and jointly weakly connected in any two contiguous switching time-interval. Finally, simulation results are presented to support the effectiveness of our theoretical results.