Coordination for Second-order Multi-agent Systems With Velocity and Communication Constraints

Abstract This paper studies the consensus problem of second-order multi-agent systems by means of the event-triggered approach. A novel protocol, which relaxes the mutual requirement on the velocity measurements of nodes, is proposed under the general directed topology. The proposed law is further extended to the case of changing coupling gains, that is, the node/edge-based scheme. It suggests that the variable coupling weights merely enhance or weaken the communication capacity among the nodes, while do not essentially change the structure of sensing graph. It hence gives some insight into the balance between performance index and configuration budget. Moreover, compared with the infinite precision computation algorithm, our quantization-based triggering rule is concretely designed to explore mild consensus criteria. Finally, numerical examples are presented to support the effectiveness of the proposed cooperation rules.