Leader-following consensus of second-order nonlinear multi-agent systems with intermittent position measurements

Abstract

This workstudies the leader-following consensus problem of second-order nonlinear multi-agent systems with aperiodically intermittent position measurements. Through thefilter-based method, a novel intermittent consensus protocol without velocity measurements is designed for each follower exclusivelybased on the relative position measurements of neighboring agents. Under the common assumption that only relative position measurements between the neighboring agents are intermittently used, some consensus conditions are derived for second-order leader-following multi-agent systems with inherent delayed nonlinear dynamics.Moreover, for multi-agent systems without inherent delayed nonlinear dynamics, some simpler consensus conditions are presented. Finally, some simulation examples are presentedto verify and illustrate the theoretical results.