Adaptive consensus control of second-order nonlinear multi-agent systems with event-dependent intermittent communications

This article deals with the adaptive consensus control problem for second-order nonlinear multi-agent systems under intermittent communications. The main contribution is that a novel event-dependent in-termittent communication scheme is proposed, where the work time and the rest time can be changed according to the current states. This event-dependent intermittent communication is named Sun's in-termittent communication scheme. In this communication scheme, by dividing the nonnegative real region into three subregions, the work time and the rest time are decided by the events, which are pro-duced by the pre-given subregions and a Lyapunov function. Then by developing a distributed adaptive protocol based on state estimates of neighboring agents, the overall consensus is achieved under the event-dependent intermittent communication. Compared with the existing related schemes, the proposed scheme can tolerate a larger intermittent rate. Finally, a simulation example is developed to verify the proposed approach.(c) 2022 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.