Consensus of second-order multi-agent system with queuing mechanism and second-order neighbors' information

In this paper, the sample-data-based consensus is investigated for a couple of second-order mobile agents with communication constrains including packet dropout and time-varying delay. We first model the packet dropout as a switching topology with a Bernoulli stochastic variable, then describe time delay by the queuing mechanism. Based on second-order neighbors information, a novel distributed protocol is proposed to achieve consensus. Under the proposed protocol, a necessary and sufficient condition for achieving consensus is given by using the Lyapunov methodology. Combined with particle swarm optimization, not only can this necessary and sufficient condition be satisfied, but also an optimal solution that achieves the fastest convergence speed can be found. Additionally, compared with traditional queuing mechanism, queuing mechanism combined with second-order neighbors information has faster convergence speed. At last, the consensus of the system is verified by simulation comparison.