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

摘要： 研究了在限制交互范围条件下具有一个虚拟领导者的二阶多智能体系统的一致性问题。假设多智能体系统中所有智能体均可以接收到领导者的信息，而智能体之间只有距离在一定范围内才可以进行相互通信。在相对状态反馈的线性一致性协议下，通过李雅普诺夫法，证明了该多智能体系统二阶一致性的充分条件。接着通过仿真实例验证了理论结果，并对该算法作出了总结。

关键词: 限制交互范围, 非光滑, 二阶一致性, 李雅普诺夫方法