Abstract
In this paper, multi-consensus refers to that the states of multi-agent systems asymptotically converge to several consistent values. The concept of intelligence degree is introduced to characterize the level of agent intelligence. Based on that, some distributed switched impulsive protocols are proposed using sampled position data and sampled velocity data alternately at sampling instants. The continuous-time multi-agent system using the proposed protocols is equivalently transformed into a discrete-time system. Some necessary and sufficient conditions on the communication network topology are obtained. Three types of multi-consensus can be asymptotically achieved if and only if the directed network has a spanning tree and the feedback gains and sampling periods are chosen appropriately. Moreover, the final states of multi-consensus are analytically determined for second-order multi-agent systems, which depend on the initial states of the agents, the communication network topology, and the feedback gains in the protocols. Numerical examples are finally presented to show the effectiveness of the proposed protocols and to verify the theoretical results.
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