Consensus of nonlinear multi-agent systems with communication constraints

This paper studies the consensus problem for a class of nonlinear multi-agent systems with communication constraints. By designing a suitable distributed cooperative controller, all followers synchronize to the leader asymptotically if the communication rate is larger than a threshold value for each time interval. Meanwhile, the switching topology is considered, which is more coincident with the real systems. By multiple Lyapunov functions theory, sufficient conditions are given to guarantee the consensus. Moreover, some helpful design guidelines are given to obtain desired communication rate and convergence rate by choosing system and control parameters suitably. Finally, the simulation result verifies the effectiveness of the proposed method.