Second-order min-consensus on switching topology

The agent dynamics of most of the multi-agent systems in practice are second-order. However, there is no existing min-consensus protocol for such systems. In this paper, we deal with this problem by proposing the first second-order min-consensus protocol with provable convergence. It is not trivial to extend the min-consensus result for the first-order case to the second-order one. Under certain conditions, the proposed protocol can guarantee global asymptotic min-consensus, even for the case with jointly connected communication graphs. An illustrative example is presented to verify the theoretical results and the efficiency of the proposed protocol.