Robustness analysis of leader–follower consensus for multi-agent systems characterized by double integrators

This paper explores robustness properties of second-order leader–follower consensus in which each agent is characterized by a double-integrator. Communication errors in the transferred data and measurement errors are considered and two robust measures are introduced, respectively, to evaluate the effects of two errors on consensus. The robustness properties of leader–follower for each agent with the same in-degree are investigated and some interesting results on robustness analysis of consensus are obtained for cases of each follower with in-degree 1 and in-degree N − 1 where N is the number of agents. Simulations also support the obtained results.