Consensus problem of multiple inertial agents with fixed and switching topologies

This paper is mainly devoted to the second-order consensus problem of multiple agents with different significant inertias in directed networks with fixed and switching balanced topologies. On the assumption that each agent knows the desired constant velocity, if the fixed interaction digraph G is weakly connected, then all agents achieve consensus on their positions with their velocities converging to the desired one. Such group behavior can also be achieved under switching weakly connected topologies, if the agentspsila inertias satisfy some condition and the switching-frequency is relatively slow. Simulations illustrate the effectiveness of the obtained results.