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Second-Order Consensus of Multi-Agent Systems With Delayed Nonlinear Dynamics and Intermittent Measurements

This paper investigates second-order consensus of multi-agent systems with delayed nonlinear dynamics and switching topologies. Each agent is assumed to obtain the measurements of relative states between its own and the neighbors only at a sequence of disconnected time intervals. A novel intermittent consensus protocol is proposed to guarantee the states of agents with time-varying velocities to reach second-order consensus under a fixed strongly connected and balanced network topology. The results are then extended to second-order consensus in multi-agent systems with switching topologies, where each possible communication topology is strongly connected and balanced. By virtue of the Lyapunov control approach, 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 theoretical analysis and effectiveness of the new protocol.