OBSERVER-BASED CONSENSUS TRACKING FOR NONLINEAR MULTI-AGENT SYSTEMS WITH INTERMITTENT COMMUNICATIONS

This paper addresses the observer-based consensus tracking problem of multi-agent systems with intermittent communications. The agent dynamics are modeled as general linear systems with Lipschitz nonlinearity. Under the assumption that each agent can intermittently share its relative output with neighbors, a class of an observer-type protocol is proposed, and the consensus tracking problem can be converted further into the stability problem of the nonlinear switching systems. Using a combined tool from M matrix theory, switching theory and the averaging approach, a multi-step algorithm is presented to construct the observer gains and protocol parameters, and the sufficient criteria established not only can ensure the state estimates convergence to the real values but also can guarantee the follower states synchronize to those of the leader. The obtained results reveal the relationships among the communication rate, the convergence rate, and the dwell time of switching topologies. Finally, the theoretical findings are validated by a numerical example.