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

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Abstract

This work studies the leader-following consensus problem of second-order nonlinear multi-agent systems with aperiodically intermittent position measurements. Through the filter-based method, a novel intermittent consensus protocol without velocity measurements is designed for each follower exclusively based 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 presented to verify and illustrate the theoretical results.

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Acknowledgements

This work was supported by National Natural Science Foundation of China (Grant Nos. 61573200, 61573199).

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Authors and Affiliations

  1. College of Artificial Intelligence, Nankai University, Tianjin, 300350, China

    Fuyong Wang, Zhongxin Liu & Zengqiang Chen

  2. Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China

    Fuyong Wang, Zhongxin Liu & Zengqiang Chen

Authors
  1. Fuyong Wang
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  2. Zhongxin Liu
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  3. Zengqiang Chen
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Correspondence to Zhongxin Liu.

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Wang, F., Liu, Z. & Chen, Z. Leader-following consensus of second-order nonlinear multi-agent systems with intermittent position measurements. Sci. China Inf. Sci. 62, 202204 (2019). https://doi.org/10.1007/s11432-018-9732-7

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