Second-order consensus for nonlinear multi-agent systems with intermittent measurements

Abstract

In this paper, the consensus problem is investigated for a class of second-order nonlinear multi-agent systems with intermittent measurements and directed topology. A novel protocol designed based only on the intermittent local feedback is introduced to guarantee the states of multiple agents to converge. By virtue of the Lyapunov control approach, it is theoretically proved that second-order consensus can be achieved exponentially if the general algebraic connectivity and the communication time duration are larger than their corresponding threshold values respectively. Finally, a simulation example is given to verify the theoretical analysis.