The second-order parametric consensus protocol

In this paper we extend the parametric consensus protocol recently introduced by the author, to more realistic agents modeled as double integrators and interacting over an undirected communication network. The stability properties of the new protocol in terms of the real parameter “s” are studied for some relevant graph topologies, and the connection with the notion of bipartite consensus is highlighted. The theory is illustrated with the help of two worked examples, dealing with the coordination of a team of quadrotor UAVs and with cooperative temperature measurement in an indoor environment.