Leader-following consensus of second-order nonlinear multi-agent systems with intermittent position measurements

• 来源期刊: 中国科学:化学（英文版）
• 年，卷（期）: 2019,（10）
• 页码范围: 113-128
• 页数: 16页
• 语种: 英文

摘要

This work studies the leader-following consensus problem of second-order nonlinear multi-agent systems with aperiodically intermittent position measurements.Through the filter-based method,a novel intermittent consensus protocol without velocity measurements is designed for each follower exclusively based on the relative position measurements of neighboring agents.Under the common assumption that only relative position measurements between the neighboring agents are intermittently used,some consensus conditions are derived for second-order leader-following multi-agent systems with inherent delayed nonlinear dynamics.Moreover,for multi-agent systems without inherent delayed nonlinear dynamics,some simpler consensus conditions are presented.Finally,some simulation examples are presented to verify and illustrate the theoretical results.