Cluster-delay consensus in MASs with layered intermittent communication: a multi-tracking approach

Abstract

In this paper, a class of cluster consensus problem of the multi-agent systems with aperiodic intermittent communication is studied through tracking approach. Due to the transmission ways of information in the network, a new notion of layered intermittence is developed. To track the leading subnetwork and reach the desired consensus, a new type of pinning-like consensus protocol with aperiodic intermittent effects is designed according to the topological properties of agents. Considering both the control protocol with intermittent effects and the intermittent communication, the protocol is applied to construct several new intermittent switching systems. Besides, the graph of the networked system is assumed to be directed and weakly connected. Some consensus criteria are derived to guarantee that the agents in the same cluster follow the leader asymptotically, while agents in different clusters reach the desired delay consensus via tracking their leaders. Finally, some numerical simulations are given to illustrate the effectiveness of the theoretical results.