Distributed consensus control for networks of second-order agents with switching topology and time-delay

In this paper, distributed consensus control is investigated for networks of agents with double integrator dynamics. Two network cases are considered, undirected networks with switching topology and undirected networks with switching topology and time-delay. Two linear consensus protocols with and without time-delay are introduced to solve the consensus problem, which includes two aspects, the agreement of the position states and the synchronization of the speed states. Moreover, the convergence analysis is proved for both cases and in each case sufficient conditions are given. Finally, numerical simulation examples are included to illustrate the obtained theoretical results.