Consensus Of Multi-agent Systems With Communication Constraints

In recent years, along with the rapid development of computer technology, communication technology and sensor technology, the consensus research of multi-agent systems(MAS) in complex dynamic systems is of practical significance. The critical problem is how to design appropriate consensus protocols or algorithms which describes the process of exchanging information among each agent and its neighbors so that the multi-agent systems can emerge to a certain desired state. The work of this thesis includes the following aspects:Firstly, we consider a class of second-order leader-following consensus of nonlinear multi-agent systems with fixed directed topology and communication constraints where each agent is assumed to share information with its neighbors only on some different disconnected and uniformly bounded time intervals [tm,tm+lm),lm≥ε>0. Based on graph theory, matrix theory and Lyapunov approach, a control algorithm is proposed to achieve leader-following consensus, when the first nodes is reached globally and the Laplace matrix satisfies some certain conditions in the balanced network topology.Secondly, a class of second-order consensus problem with communication constraints is investigated for a class of nonlinear multi-agent systems which each agent is assumed to share information with its neighbors in a kind of network topology on the different disconnected and uniformly bounded time interval; however, on other times, agents communicate with each other in another different kind of network topology. Some sufficient conditions are derived for reaching second-order consensus.Thirdly, the consensus problem of second-order multi-agent systems with time-varying communication delay in nonlinear dynamics is studied. Each agent is assumed to obtain the measurements of relative states among its own and the neighbors only on a sequence of disconnected time intervals. A novel intermittent consensus protocol is proposed to guarantee the states of agents to reach second-order average consensus under a fixed strongly connected if the general algebraic connectivity is larger than their corresponding threshold values and some other conditions are satisfied. Finally, simulation examples are provided to verify theoretical analysis and the effectiveness of the new protocol.