A re-grouping modeling approach on consensus of multiagent networks with missing connections

The consensus problem of multiagent nonlinear networks (MANNs) with missing connections is discussed in this paper. Switching models are first presented to describe MANNs with missing connections. Due to missing connections, control schemes are needed to force the nonlinear networks achieving a consensus. In order to design simple and explicit controllers, a re-grouping algorithm is presented to aggregate those nodes which do not have to be controlled. A linear control scheme is then applied in the re-grouping nonlinear models and a sufficient condition is derived to ensure the re-grouping model achieving the same consensus as the original model. Finally, simulation results are given to illustrate the effectiveness of the proposed criteria.