Group Consensus for Second-order Linear Multi-agent Systems with Intermittent Control

Abstract

This paper focused on the tracking group consensus problem in a second-order multi-agent system, which is based on a multigroup network structure under the constraint of non-periodic intermittent communication. We proposed a new intermittent consensus protocol and performed a convergence analysis using Lyapunov stability theory and algebraic graph theory. The convergence analysis mainly adopts two assumptions on which the protocol relies, which are that the communication interval is time-varying and the inter-group relations. Based on these assumptions, sufficient conditions for achieving group consensus in a second-order multi-agent system with non-periodic intermittent communication are derived. To verify the conclusions drawn from the mathematical analysis, the paper finally used MATLAB to perform numerical simulations to verify the validity and correctness of the results.