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

摘要： 基于牵制控制研究了线性多智能体系统中协议失效的一致性问题，建立了一种连接失效的网络模型，该模型的驻留时间为常数。基于两种状态的李雅普诺夫方法函数来分析其一致性。依赖于驻留时间，给出了计算复杂度较小的简洁条件。在此基础上，总结了对于存在故障设计的一个牵制一致性控制器的两个充分条件。最后，通过实例验证了该方法的有效性。

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