Abstract
Abstract This paper presents a proportional-derivative protocol for the consensus problem of a class of linear second-order multi-agent systems with local information transmission. The communication topology among the agents is switching and agents receive information within a critical bounded distance. As new observations, we show that the desired protocol system undergoes consensus and swarming behaviours when 1 is a simple eigenvalue of the adjacency matrix. In this case, both final velocity and final relative position are formulated. Simulation results show the effectiveness of the proposed protocol.
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