Consensus Analysis of Second-Order Multi-Agent Systems with Communication Interrupt Under Dynamic Topology

摘要

The paper is intended for the second-order multiagent system that can switch communication topology. It studies the system consensus during the inter-agent random communication interrupt. The paper designs the independent dynamic topology switching strategy through the system’s own parameters. The control protocol consists of the adjacent agent information and the positive solution of the algebraic Riccati equation. The Lyapunov-Krasovskii function is constructed to analyze the acceptable upper bound of the system communication interrupt duration. Finally, a digital simulation example is used to simulate the designed switching strategy and control protocol to verify the validity of the algorithm.