Distributed hybrid consensus of second order dynamics over proximity nets*

In this paper, we consider the distributed consensus problem of the second-order multi-agent system where the agents are connected via distance-dependent networks. For the feasibility of information processing, we introduce dwell times which may be different at different sampling time instants. Each agent can only receive the information and update its control laws at discrete sampling time instants, which in combination with the continuous-time dynamics yields the hybrid closed-loop dynamics. By analyzing the discrete-time system at the sampling instants and the continuous-time system between the sampling instants, we establish the sufficient condition for consensus of the hybrid second-order multi-agents system, without relying on the properties of the dynamics of the neighbor graphs.