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This article considers consensus problem of multiagent systems with doubleintegrator dynamics under nonuniform sampling. It is considered the maximumsampling time can be selected arbitrarily. Moreover, the communication graphcan change to any possible topology as long as its associated graph Laplacianhas eigenvalues in a given region, which can be selected arbitrarily. Existenceof a controller that ensures consensus in this setting is shown when thechanging topology graphs are balanced and has a spanning tree. Also, explicitbounds for controller parameters are given. A novel sufficient condition isgiven to solve the consensus problem based on making the closed loop systemmatrix a contraction using a particular coordinate system for general lineardynamics. It is shown that the given condition immediately generalizes tochanging topology in the case of balanced topology graphs. This condition isapplied to double integrator dynamics to obtain explicit bounds on thecontroller.

Consensus of Double Integrator Multiagent Systems under Nonuniform Sampling and Changing Topology