Leader-following Exponential Consensus of Discrete-time Multi-agent Systems with Time-varying Delay and Intermittent Communication

  • Shuang Liang
  • Zhongxin LiuEmail author
  • Zengqiang Chen


In this paper, the leader-following exponential consensus problem of discrete-time multi-agent systems with time-varying delay is investigated. For systems with interconnected topology being directed and mobile agents being able to communicate with each other at some disjoint time intervals, a new distributed consensus protocol is proposed. By model transforming, it is shown that the consensus problem can be cast into the stability problem for discrete-time multi-agent systems. In light of the multiple Lyapunov stability analysis and the linear matrix inequality method, some new sufficient conditions are derived for guaranteeing the exponential consensus of discrete-time multi-agent systems under fixed topology and switching topology. Moreover, the corresponding gain matrices are also obtained. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.


Discrete-time multi-agent systems exponential consensus intermittent communication leader-following consensus time-varying delay 


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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.College of Artificial IntelligenceNankai UniversityTianjinChina
  2. 2.Tianjin Key Laboratory of Intelligent RoboticsNankai UniversityTianjinChina

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