Leader-following consensus of second-order nonlinear multi-agent systems with intermittent position measurements

Abstract

This work studies the leader-following consensus problem of second-order nonlinear multi-agent systems with aperiodically intermittent position measurements. Through the filter-based method, a novel intermittent consensus protocol without velocity measurements is designed for each follower exclusively based on the relative position measurements of neighboring agents. Under the common assumption that only relative position measurements between the neighboring agents are intermittently used, some consensus conditions are derived for second-order leader-following multi-agent systems with inherent delayed nonlinear dynamics. Moreover, for multi-agent systems without inherent delayed nonlinear dynamics, some simpler consensus conditions are presented. Finally, some simulation examples are presented to verify and illustrate the theoretical results.

Observer-based node-to-node consensus of multi-agent systems with intermittent networks

“…c 2 } > 0, λ 0 is given by (10), andα andβ are two positive scalars. Q > 0, P > 0, and U > 0 satisfy…”

“…Cooperative analysis of large scale networked systems has attracted numerous attention from many scientific fields [1,2], such as control systems [3][4][5], neural networks [6,7], applied mathematics [8], and information science [9][10][11]. Typical cooperative behaviors include consensus of multi-agent systems (MASs) [3] and synchronization of complex networks [12,13] which are aimed at achieving a state agreement among multiple agents.…”

Dynamic event‐triggered cooperative formation control for UAVs subject to time‐varying disturbances

“…In general, two kinds of methods are used to investigate cooperative control of multi‐agent systems, i.e. leader–follower control and leaderless control [1–12]. For the leader–follower approach, the followers track the trajectory of the leader or multiple leaders to achieve the consensus/formation.…”

Finite/fixed-time consensus of nonlinear multi-agent systems against actuator faults and disturbances

“…Up until now, fruitful results have been achieved on consensus problems (Chen et al, 2016; Li et al, 2012b; Olfati-Saber and Murray, 2004; Taheri et al, 2019; Zheng et al, 2011). Some other interesting topics such as formation control (Kwang-Kyo et al, 2015; Liu and Jia, 2012) and containment control (Liu et al, 2012; Wang et al, 2017a, 2019; Zheng and Wang, 2014) have also been widely studied.…”