A Consensus Algorithm Based on Nearest Second-order Neighbors' Information∗

For the problem of communication in consensus algorithm based on secondorder neighbors' information, a consensus algorithm using the nearest second-order neighbors' information, in which only partial second-order neighbors' information is used, is proposed and applied to continuous multiple motion bodies with double-integrator kinematics. We conducted the stable analysis to compare the proposed algorithm with the consensus algorithms based on the first-order neighbors' information, and based on the second-order neighbors' information on the convergence, respectively. The three consensus algorithms were used to multiple robot formation with leader-followers. The simulations have demonstrated the feasibility and validity of the proposed algorithm.