关键词: 多智能体系统, 一致性, 牵制控制, 容错控制, 李雅普诺夫方法

Abstract: This paper focused on the consensus problem of linear multi⁃agent systems via a pinning controller with protocol failure. A network model of connection failure was established,the dwell time of the model was constant.A Lyapunov function approach based on such two states was developed to analyse its consensus. Concise conditions with smaller computation complexity were proposed and depended on such dwell times. Then, two sufficient conditions for the existence of a pinning consensus controller with failures were established. Finally, a practical example was used to demonstrate the effectiveness of the proposed methods.

Key words: Multi?agent systems, Consensus, Pinning control, Failure?tolerant control, Lyapunov function approach