Convergence analysis for dynamic synchronization of second-order multi-agent systems via reference model based algorithm

This paper revisits the synchronization problem for second-order multi-agent systems (MASs) under dynamically changing communication topology. By employing the reference model based synchronization algorithm, it is finally shown that synchronization for both the position and velocity states can be achieved if the union of the communication topologies has a directed spanning tree frequently enough. This extends the existing results obtained for second-order MASs which exploits mild communication topology condition guaranteeing the synchronization to a more general case.