Discrete double integrator consensus

@article{Casbeer2008DiscreteDI,
  title={Discrete double integrator consensus},
  author={D. W. Casbeer and R W Beard and A. Lee Swindlehurst},
  journal={2008 47th IEEE Conference on Decision and Control},
  year={2008},
  pages={2264-2269}
}
A distributed double integrator discrete time consensus protocol is presented along with stability analysis. The protocol will achieve consensus when the communication topology contains at least a directed spanning tree. Average consensus is achieved when the communication topology is strongly connected and balanced, where average consensus for double integrator systems is discussed. For second order systems average consensus occurs when the information states tend toward the average of the… CONTINUE READING
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