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1、AbstractInrecentyears,thecoordinationcontrolofmulti-agentsystemshasreceivedextensiveattentionofthescientificcommunityandisusedinsatelliteflyingformation,unmannedaerialvehiclestracking.Thekeyproblemofthemulti-agentsystemsishowtoputforwardakindofdistributedcontro1strategybasedonloca
2、linformation,inordertomakealltheagenfsstateinformationachieveconsistent,namelyconsensusproblemInthispaper,thesecond・orderconsensusproblemsforsystemsmodeledbysecond・orderdynamicsaremainlydiscussed.Tomakethestateinformationofmulti-agentsystemsconvergetoacommonvalue,thesuitableconsen
3、susalgorithmisproposed.Besides,theconsensusalgorithmisvariedandappliedtotheformationcontrolofmulti-agentsystems-Themainresearchworkandachievementareasfollows:First，forsecond・orderdynamicmodelofmulti-vehiclesystem,weinvestigateasecond-orderconsensusprotocolforthesysteminthecaseofco
4、llectinginformationwithouttime-delay.Byintroducingpositiontrackingvalue,weproposeasimplesecond-orderconsensusprotocol,makingthestateofeachvehicleconvergetothegiventrackingvalues.Thenecessaryandsufficientconditionunderwhichsecond-orderconsensuscanbereachedisderivedbyusingthesystems
5、tabilitytheory.Thesecondconsensusisthenappliedtothemultiplevehiclesystemswithfourvehiclesasanillustrativeexample・Second,weproposeasimpleconsensusalgorithmforsystemsmodeledbysecond-orderdynamics,andderivenecessaryandsufficientconditionsunderwhichconsensuscanbereachedbasedonalgebrai
6、cgraphtheoryandmatrixanalysis.Weapplythesimplesecond-orderconsensusalgorithmtotackleformationcontrolproblems.Thesecond-orderconsensusprotocolandtwomulti-vehiclesystemsformationcontrolexairpleareshowninsimulationtoillustrateourstrategies.Third,boththestandardpositiondeviationandthe
7、relativepositiondeviationareconsidered,thesecond-orderconsensusprotocolbasedonthepositiondifferenceisproposed.Still,usingmatrixanalysisandtheknowledgeofgraphtheorythestabilityoftheproposedconsensusprotocolisproved・Itisworthnotingthatcomparingwiththesecondresearchpoint,theconvergen
8、cespeedofthisalgorithmisfeste匚The
