Consensus in multi-agent systems with second-order dynamics and non-periodic sampled-data exchange

TL;DR

This paper investigates how second-order multi-agent systems reach consensus when agents exchange information at non-periodic, randomly timed intervals, using Lyapunov methods to establish stability conditions.

Contribution

It introduces a novel analysis of consensus stability under non-periodic sampled-data exchange with bounded inter-sampling intervals for second-order agents.

Findings

Derived sufficient stability conditions for consensus

Validated theoretical results with numerical simulations

Applicable to systems with random, non-uniform sampling

Abstract

In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact knowledge of its own state at all times. The considered local interaction rule is PD-type. The characterization of the convergence properties exploits a Lyapunov-Krasovskii functional method, sufficient conditions for stability of the consensus protocol to a time-invariant value are derived. Numerical simulations are presented to corroborate the theoretical results.