On the general consensus protocol of multi-agent systems with double-integrator dynamics

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Cooperative adaptive control for synchronization of second‐order systems with unknown nonlinearities (2011, background): “[18] study the general second-order consensus problem for double integrator systems.”
Consensus in multi-agent systems: a review (2021, background): “1 The transfer function of the above system in the Laplace domain is G i ( s ) = s 2 I m , and it has an additional integrator relative to the former model; which justifies its designation (Ren and Atkins 2007; Zhu et al. 2009; Ren et al. 2007a).”
Distributed Consensus of Second-Order Multi-Agent Systems With Heterogeneous Unknown Inertias and Control Gains Under a Directed Graph (2016, background): “Examples include consensus for agents with second-order integrator dynamics under a directed graph [11]–[13], with general linear dynamics [16], and with Lipschitz nonlinear dynamics [17].”
Second-order consensus for multi-agent systems with switching topology and communication delay (2011, background): “A generalized consensus algorithm of those considered in [19,21] is investigated in [24] under directed and fixed topology.”