Semi-global consensus of multi-agent systems with intermittent communications and low-gain feedback

This study addresses the semi-global consensus of linear multi-agent systems with a virtual leader, in which the control input of each agent is subject to periodically intermittent saturating actuator. Depending on multiple Lyapunov stability theorem and applying the algebraic-Riccati-equation-based low-gain feedback technique, the authors can obtain that: when the control width is larger than a fixed value, a connected system with each agent being asymptotically null controllable with bounded controls and marginally stable can guarantee the semi-global consensus of multi-agent systems with a virtual leader. Numerical simulations verify the author´s theoretical analysis.