Simulink Model for Second-Order Multi-Agent System Consensus

This simulation provides a practical Simulink block diagram implementation for studying consensus in second-order multi-agent systems. The model employs standard consensus algorithms with double-integrator dynamics, where each agent's position and velocity states are updated based on neighbor interactions through Laplacian matrix-based communication protocols. You can modify the system by adjusting agent parameters, communication topology weights, and control gains to observe convergence behaviors. The implementation uses MATLAB Function blocks to encode consensus protocols, while integrator blocks handle the second-order dynamics. The simulation allows visualization of state trajectories and consensus error evolution. Researchers can extend this foundation by implementing different consensus algorithms (such as leader-following or event-triggered consensus), testing robustness to communication delays, or incorporating obstacle avoidance mechanisms. The modular design enables easy integration of additional agents and custom control strategies, making it suitable for both educational demonstrations and advanced research experiments in multi-agent coordination.