Consensus Problem of Multi-agent Systems with Sensing Constraint on Range

Consensus problem of multi-agent systems with sensing constraint on range is studied in this paper. It is known that sensors have limited sensing capabilities although they are very important components and play a vital role in networked control systems. This paper discusses the consensus problem of the multi-agent systems in which some agents are outside the sensing ranges of their neighbors. We introduce an initial-state-dependent switching parameter into the consensus protocol, and show that the consensus can be obtained as long as some conditions are satisfied. an example is proposed to illustrate the effectiveness of the method.