Second-order consensus of multi-agent systems under limited interaction ranges

This paper studies a distributed linear consensus protocol for second-order multi-agent systems under limited agent interaction ranges. In particular, two agents can interact with each other only if their distance is within a certain range. Under a linear consensus protocol with the relative state feedback, we derive a sufficient condition on the initial states and the interaction range to achieve the second-order consensus by using a Lyapunov functional approach. Finally, simulation examples are included to validate the theoretical result.