Flocking dynamics for cooperation multi-agent networks subject to intermittent communication

Abstract

In this work, we investigate the leader-follower flocking control issue of the Cucker-Smale(C-S) model that involves intermittent communication. It is recognized that intermittent communication occurred randomly in the channels between controllers, sensors, and actuators. In order to assess the flocking behavior of the C-S model, this research suggests a technique based on the product of sub-stochastic matrices. This method establishes the sufficient conditions for flocking behavior, which are contingent on the agent’s weight function, topological structure, and initial state. In contrast to previous results that only apply to specific forms of positive and decreasing weight functions, our findings are more generic and can be applied to any positive and decreasing weight functions with non-zero lower bounds. In addition, through the analysis of the error system, it is ensured that the speeds of all individuals eventually tend to be consistent and converge within a convex hull with an upper bound. Eventually, the validity of our results is verified through simulation examples.