Leader following consensus for multi-agent systems with stochastic packet dropout

Abstract

This paper is to develop a novel consensus algorithm or protocol for multi-agent systems in the event of communication link failure over the network. System dynamics are defined as a double-integrator system with the topology of MAS modeled by the graph theory. Bernoulli distribution is applied to represent the data dropout during operation. The sufficient conditions for the stabilization controller design is developed by Lyapunov-based methodologies and Linear matrix inequality (LMIs) techniques. The feasibility of the given LMIs is analyzed to ensure the stabilization controller design, which ensures the MAS to achieve the consensus. Leader-following numerical simulations with a group of agents are successfully conducted to demonstrate the effectiveness of the novel consensus algorithm in this paper. The results are studied to show that the consensus achievement is incorporating with the data loss probability up to 95%, however the higher data loss rate may cause longer time for agents to achieve consensus.