Consensus of second-order multi-agent systems with delayed nonlinear dynamics and intermittent communications

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Original languageEnglish
Pages (from-to)322-331
Journal / PublicationInternational Journal of Control
Issue number2
Publication statusPublished - 1 Feb 2013


This article investigates the second-order consensus problem of multi-agent systems with inherent delayed nonlinear dynamics and intermittent communications. Each agent is assumed to obtain the measurements of relative states between its own and the neighbours' only at a sequence of disconnected time intervals. A new kind of protocol based only on the intermittent measurements of neighbouring agents is proposed to guarantee the states of agents to reach second-order consensus under a fixed strongly connected and balanced topology. By constructing a common Lyapunov function, it is shown that consensus can be reached if the general algebraic connectivity and communication time duration are larger than their corresponding threshold values, respectively. Finally, simulation examples are provided to verify the effectiveness of the theoretical analysis. © 2013 Taylor & Francis Group, LLC.

Research Area(s)

  • consensus, delayed nonlinear dynamics, directed graph, intermittent communication, multi-agent system