Second-Order Agents on Ring Digraphs

Abstract

The paper addresses the problem of consensus seeking among second-order linear agents interconnected in a specific ring topology. Unlike the existing results in the field dealing with one-directional digraphs arising in various cyclic pursuit algorithms or two-directional graphs, we focus on the case where some arcs in a two-directional ring graph are dropped in a regular fashion. The derived condition for achieving consensus turns out to be independent of the number of agents in a network.