Premium
Consensus in multi‐agent systems with communication constraints
Author(s) -
Wen Guanghui,
Duan Zhisheng,
Yu Wenwu,
Chen Guanrong
Publication year - 2011
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1687
Subject(s) - algebraic graph theory , algebraic connectivity , topology (electrical circuits) , computer science , network topology , multi agent system , consensus , graph , strongly connected component , uniform consensus , directed graph , algebraic number , lyapunov function , connectivity , class (philosophy) , order (exchange) , tree (set theory) , mathematics , theoretical computer science , computer network , laplacian matrix , algorithm , artificial intelligence , combinatorics , mathematical analysis , physics , finance , economics , nonlinear system , quantum mechanics
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.