Abstract
This paper is concerned with the issue of consensus for leader-following multi-agent systems, wherein the agents acting as followers update states based on the information received from the time-varying neighbors and the virtual leader. Moreover, the neighbors of an agent are divided into three types according to their relative position, which may also be changed with time. Consensus protocol is derived mainly by using intermittent control, and based on the Lyapunov stability theory, sufficient conditions for consensus are presented and proved theoretically. Finally, some numerical examples are given to demonstrate the effectiveness of the results.
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