Leader-following consensus for networks with single- and double-integrator dynamics

In the paper, consensus protocols for networks of dynamic agents with single- and double-integrator dynamics are proposed. We provide necessary and sufficient conditions for leader-following consensus problem of the presented models. In order to examine the studied cases in a general way the time scale calculus is employed to get the results. The method used in the proofs is based on spectral characterization of stability for time invariant linear systems on time scales. All the results are enriched in illustrative examples and numerical simulations.