Consensus in multi-agent systems with communication constraints

• Published in: International journal of robust and nonlinear control Vol. 22; no. 2; pp. 170 - 182
• Main Authors: Wen, Guanghui, Duan, Zhisheng, Yu, Wenwu, Chen, Guanrong
• Format: Journal Article
• Language: English
• Published: Chichester, UK John Wiley & Sons, Ltd 25.01.2012
• Subjects: communication constraint; directed spanning tree; multi-agent system; second-order consensus
• ISSN: 1049-8923; 1099-1239
• DOI: 10.1002/rnc.1687

The problem of second‐order consensus is investigated in this paper for a class of multi‐agent systems with a fixed directed topology and communication constraints where each agent is assumed to share information only with its neighbors on some disconnected time intervals. A novel consensus protocol designed based on synchronous intermittent local information feedback is proposed to coordinate the states of agents to converge to second‐order consensus under a fixed strongly connected topology, which is then extended to the case where the communication topology contains a directed spanning tree. By using tools from algebraic graph theory and Lyapunov control approach, it is proved that second‐order consensus can be reached if the general algebraic connectivity of the communication topology is larger than a threshold value and the mobile agents communicate with their neighbors frequently enough as the network evolves. Finally, a numerical example is simulated to verify the theoretical analysis. Copyright © 2011 John Wiley & Sons, Ltd.