Consensus seeking in second-order multi-agent systems with restricted switching topology

This paper focuses on the consensus problem of multi-agent systems with double-integrator dynamics, in which the interaction topology is switching constrained by an average dwell time switching signal. A novel general distributed protocol is constructed based on the information received from neighbours, under which the multi-agent systems can exhibit not only static consensus but also dynamic consensus. Then, a sufficient condition on consensus is derived in terms of linear matrix inequalities, which can be easily solved by efficient convex optimization algorithms. Finally, the validity of the theoretical results is verified by a simulation example.