Consensus in multi-agent systems with non-periodic sampled-data exchange and uncertain network topology

TL;DR

This paper investigates consensus in second-order multi-agent systems with non-periodic, randomly sampled data exchanges, providing stability conditions based on LMIs and network connectivity, supported by numerical simulations.

Contribution

It introduces new stability conditions for consensus under non-periodic sampling and uncertain network topology using LMIs, advancing multi-agent system analysis.

Findings

Derived LMI-based stability conditions for consensus

Proved stability under bounded, non-periodic sampling intervals

Validated results through numerical simulations

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 any time instant. The considered local interaction rule is PD-type. Sufficient conditions for stability of the consensus protocol to a time-invariant value are derived based on LMIs. Such conditions only require the knowledge of the connectivity of the graph modeling the network topology. Numerical simulations are presented to corroborate the theoretical results.