Connectivity preservation of second-order nonlinear multiagent systems with hybrid event-driven and time-driven control
Hongwen Ma, Ding Wang, Derong Liu · International Journal of Systems Science · 2018
In practice, the capability of communication between each pair of agents is within a finite range. This paper investigates how to preserve connectivity for nonlinear multiagent systems while reaching consensus under event-driven control technique. By introducing an appropriate potential function based on the distance of two agents, we can demonstrate that all the agents will not lose connectivity if the initial undirected graph is connected. Furthermore, due to the existence of friction and time delay, we utilise the Young's inequality and a Lyapunov–Krasovskii functional to eliminate the negative effects of time delay. The use of impulse functions is considered which can avoid the singularity in the control input. Moreover, the hybrid event-driven and time-driven control technique is utilised to reduce the requirements of communication resources. Finally, numerical simulations are conducted to demonstrate the effectiveness of our methodology.