[3] [3] OLFATI-SABER R, MURRAY R M. Consensus problems in networks of agents with switching topology and time-delays［J］. IEEE Transanctions on Automatic Control, 2004, 49(9): 1520-1533.

[4] [4] CHENG F, YU W W, WANG H, et al. Second-order Consensus protocol design in multi-agent systems: a general framework［C］//Proceedings of the 32nd Chinese Control Conference, 2013: 7246-7251.

[6] [6] SABER R O, MURRAY R M. Consensus protocols for networks of dynamic agents［C］//American Control Confe-rence, 2003, 2: 951-956.

[7] [7] LIU X W, CHEN T P, LU W L. Consensus problem in directed networks of multi-agents via nonlinear protocols［J］. Physics Letters A, 2009, 373: 3122-3127.

[8] [8] REN W. On consensus algorithms for double-integrator dynamics［J］. IEEE Transactions on Automatic Control, 2008, 53(6): 1503-1509.

[12] [12] GODSIL C, ROYLE G. Algebraic graph theory［M］. New York: Spring, 2001.