Formation stability of multi-agent systems with limited information

Formation control of multi-agent systems in the face of limitation on the number of communication channels is considered. The feedback controller switches the communication structure so that the agents share the information of all the other agents over certain period. We present stability analysis for two types of such limitations. For both cases, it is shown that stability of formation is maintained by appropriately constructing the switching sequence of the network structure. Furthermore, we provide stability conditions for the case where the communication channels collapse with known probability in the face of channel constraints placed on the overall system.