Abstract
This paper studies the consensus problems of multi-agent systems with different inertia and partial agents’ nonlinear velocity measurements. Firstly, based on one agent’s velocity measurements, two consensus protocols are developed to guarantee that all agents asymptotically achieve stationary consensus. Secondly, a new protocol, which needs $$n-1$$ agents’ velocity measurements, rather than n, is presented such that all agents achieve consensus. Thirdly, two new consensus states, which are dependent on not only the initial positions and velocities, but also the masses and velocity gains of all agents, are obtained analytically. Numerical examples are given for three network topologies to illustrate the effectiveness of the derived algorithms.
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