This study addresses leader-following consensus problems for multi-agent systems with second-order non-linear dynamics, under the assumption that each agent can only communicate with its neighbouring agents intermittently and the communication topology does not keep strongly connected or contain a spanning tree all along. Firstly, a class of distributed consensus algorithms are designed only based on the relative local intermittent information. Notions of completely and partly intermittent communication are proposed. Some sufficient conditions are derived for achieving consensus tracking under a general fixed topology with completely and partly intermittent communication. Then, as an extension, leader-following consensus tracking is studied under time-varying intermittent communication topologies. Finally, the effectiveness of the main results is illustrated by numerical simulations.
This study investigates consensus problems for multi-agent systems with second-order dynamics under delayed and intermittent communication. A class of distributed control algorithms are proposed based on the relatively delayed and periodical intermittent information of neighbouring agents. Then, by using tools from Lyapunov approach and graph theory, it is proved that under intermittent and delayed communication, consensus can still be asymptotically achieved if some sufficient conditions are satisfied. Moreover, the relationship between time delays and communication duration over each control period is sought out. As an extension, consensus tracking problems are studied under a directed communication topology containing a spanning tree. Both the cases of partly and completely intermittent information exchange are dealt with. Finally, several simulation examples are provided to illustrate the effectiveness of the proposed theoretical analyses.
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