Consensus of second-order multi-agent systems with partial state information and intermittent interaction

Abstract

This paper is concerned with consensus problems of continuous-time second-order agents, where each agent can only obtain partial state information relative to its neighbors at some sampling instants. For reaching consensus on full state, a protocol is designed, and a sufficient and necessary condition for consensus, which shows the clear relationship among the interaction topology, controller gains, and the sampling period, is obtained by analyzing the stability of multi-agent systems. Simulations are performed to validate the theoretical results.