Sampled-data consensus for multiple agents with discrete second-order dynamics

In this paper, the problem of sampled-data consensus is investigated for multiple agents with double-integrator dynamics. Consensus analysis under both fixed and dynamic network topology is conducted from different perspectives. First, a necessary and sufficient condition for the agents under fixed network topology to reach consensus is derived by introducing some assumptions on the sampling period and the velocity damping gain. Next, the consensus problem for agents under dynamic network topology is studied by extending the method developed for agents under fixed network topology. In particular, for agents under a special class of dynamic network topology, an analysis is made of the consensus equilibria, a topic which has received less attention in the existing literature