Scaled Tracking Consensus in Discrete-Time Second-Order Multiagent Systems With Random Packet Dropouts

Abstract

This article focuses on the issue of scaled tracking consensus for discrete-time second-order multiagent systems under random packet dropouts, where the cases with a static leader and a dynamic leader are considered, respectively. The scaled tracking consensus means that all agents reach a consensus value determined by the leader but with different scales, and the phenomenon of packet dropout on each communication link is described as a Bernoulli variable independent of other communication links. By virtue of random environment-based scaled consensus algorithms, it is shown how to reconstruct the original system into augmented error systems with random coefficient matrices. With the kind assistance of substochastic matrix and super-stochastic matrix, sufficient conditions for the cases with a static leader and a dynamic leader are derived, respectively. Moreover, computer simulations are performed to demonstrate the dynamics of network agents under random packet dropouts.