Distributed virtual leader tracking of multi-agent systems with second order agent dynamics under a state dependent jointly connected topology

Shize Su, Zongli Lin

Abstract: We revisit the problem of virtual leader tracking by a group of agents of second order dynamics when only a portion of the agents are informed of the information of the virtual leader. By proposing a simpler controller structure, we obtain results on coordinated consensus tracking control under a state dependent jointly connected topology. Such a network connectivity condition is weaker than the assumption that the interaction topology is connected all the time, which is an assumption made in most existing literature on this type of problems.