Biblio

This article considers the group consistency of second-order MAS with directly connected spanning tree communication topology. Because the MAS is divided into several groups, we proposed a group consistency control method based on intermittent control, and the range of parameters is given when the system achieves consensus. The protocol can realize periodic control and reduce the working hours of the controller in period. Furthermore, the group consistency of MAS is turn to the stability analysis of error, and a group consistency protocol of MAS with time-delays is designed. Finally, two examples are used for verify the theory.