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

作     者：Fuyong WANG Zhongxin LIU Zengqiang CHEN 

作者机构：College of Artificial IntelligenceNankai University Tianjin Key Laboratory of Intelligent RoboticsNankai University 

出 版 物：《Science China(Information Sciences)》 (中国科学:信息科学(英文版))

年 卷 期：2019年第62卷第10期

页      面：117-132页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by National Natural Science Foundation of China (Grant Nos. 61573200  61573199) 

主　　题：leader-following consensus second-order multi-agent system delayed nonlinear dynamics distributed filter intermittent measurements 

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.