关键词: 限制交互范围, 非光滑, 二阶一致性, 李雅普诺夫方法

Abstract: This paper discusses the issue of non-smooth second-order consensus problem of multi-agent systems with a virtual leader based on limited interaction ranges. It assumes that all agents in the system are capable to receive the information of position and velocity of the virtual leader. Besides, two agents can communicate with each other only when the distance between them is less than a preset threshold. Theorical analysis of the designed consensus protocol for a multi-agent system is presented in this paper. In addition, simulation results are also provided to verify the effectiveness of the protocol. Some conclusions are given at the end of this paper.

Key words: limited interation ranges, non-smooth, second-order consensus, Lyapunov method