Leader-following consensus in second-order multi-agent systems with sampled data

The leader-following consensus problem of second-order multi-agent systems with sampled data is investigated in the paper firstly. Only sampled position data is used in consensus protocol due to the difficulty of measuring relative velocity among all agents in fact. We consider two cases: 1) network with fixed topology; 2) network with switching topology. A necessary and sufficient condition is given for the case under fixed topology. For the case of switching topology, a sufficient condition is obtained. Some examples with simulations are presented to illustrate the validity of theory.