Partial consensus for heterogenous multi-agent systems with double integrator dynamics

In this paper, we study partial consensus problem for diffusively coupled multi-agent systems with position/velocity (double integrator) dynamics. We allow different communication topologies for positions and velocities and investigate partial consensus for such systems. First, we provide algebraic necessary and sufficient conditions for partial consensus. Then, we study almost equitable graph partitions and present necessary graph topological conditions for partial consensus.