On consensus algorithms for double-integrator dynamics

Abstract

This paper extends some existing results in consensus algorithms for double-integrator dynamics. We propose consensus algorithms for double-integrator dynamics in four cases: (i) with a bounded control input, (ii) without relative velocity measurement, (iii) without relative velocity measurement in the presence of a group reference velocity, and (iv) with a bounded control input and with partial access to a group reference state. We show that consensus is reached asymptotically for the first two cases if the undirected interaction graph is connected. We further show that consensus is reached asymptotically for the third case if the directed interaction graph has a directed spanning tree and the gain for velocity matching with the group reference velocity is above a certain bound. We also show that consensus is reached asymptotically for the fourth case if and only if the group reference state flows directly or indirectly to all of the vehicles in the team.