Abstract
This paper investigates the intermittent containment control problem for second-order multi-agent systems under directed communication topologies. In order to reduce energy consumption and overcome the difficulty of velocity measurement in engineering applications, an intermittent containment control protocol utilizing the present time-varying position data and sampled position data is proposed. Under the assumption on the existence of the directed spanning forest, a necessary and sufficient condition for the stability of the multi-agent system is obtained, which is derived by the coupling coefficients, the eigenvalues of the Laplacian matrix, the period length and the communication width. Finally, the correctness of the theoretical results is validated by experimental simulations. • An intermittent containment controller only utilizing position data is designed for multi-agent systems under directed topologies. • The new control algorithm greatly reduced the cost of communication and velocity measurement. • A necessary and sufficient condition to implement the intermittent containment control is concluded. • The simpler and intuitive condition is derived for the case of undirected topologies.
Published Version
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