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Abstract and Applied Analysis
Volume 2014 (2014), Article ID 159609, 13 pages
Research Article

Consensus of Multiagent Systems with Packet Losses and Communication Delays Using a Novel Control Protocol

College of Automation, Harbin Engineering University, Heilongjiang 150001, China

Received 16 January 2014; Revised 23 February 2014; Accepted 24 February 2014; Published 7 April 2014

Academic Editor: Peng Shi

Copyright © 2014 Zheping Yan et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper studies the consensus problem of multiagent system with packet losses and communication delays under directed communication channels. Different from previous research results, a novel control protocol is proposed depending only on periodic sampling and transmitting data in order to be convenient for practical implementation. Due to the randomicity of transmission delays and packet losses, each agent updates its input value asynchronously at discrete time instants with synchronized time stamped information and evolves in continuous time. Consensus conditions for multiagent system consists of three typical dynamics including single integrator, double integrator, and high-order integrator that are all discussed in this paper. It is proved that, for single integrator agents and double integrator systems with only communication delays, consensusability can be ensured through stochastic matrix theory if the designed communication topology contains a directed spanning tree. While, for double integrator agents and high-order integrator agents with packet losses and communication delays, the interval system theory is introduced to prove the consensus of multiagent system under the condition that the designed communication topology is a directed spanning tree. Finally, simulations are carried out to validate the effectiveness of the proposed solutions.