Average-consensus Tracking of Ramp Inputs via Second-order Multi-agent Systems

Average-consensus tracking problem of ramp reference inputs is investigated for the second-order multi-agent systems, and the proportional-integral (PI) consensus algorithms are constructed. By using matrix theory and frequency- domain analysis, sufficient and necessary consensus convergence conditions are obtained for second-order multi-agent systems with all agents getting the reference inputs firstly. In addition, sufficient consensus conditions are gained for second-order multi-agent systems with some additional interconnecting agents that do not have the reference inputs. Numerical simulations illustrate the correctness of theoretical results.