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

Zhaoqin Wu, Weixun Li, Xiangyang Du, Jing Xiao, Limin Zhang
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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.
二阶线性多智能体间歇控制系统的群一致性
研究了非周期间歇通信约束下基于多群网络结构的二阶多智能体系统的跟踪群体一致性问题。提出了一种新的间歇一致性协议,并利用Lyapunov稳定性理论和代数图理论进行了收敛性分析。收敛性分析主要采用协议所依赖的两个假设,即通信间隔时变和组间关系。在此基础上,导出了具有非周期性间歇通信的二阶多智能体系统达到群体一致的充分条件。为了验证数学分析得出的结论,本文最后利用MATLAB进行数值模拟,验证结果的有效性和正确性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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