Aperiodically intermittent saturation consensus on multi-agent systems with discontinuous dynamics.

This paper mainly investigates the exponential consensus problem for the multi-agent systems (MASs) with nonlinear discontinuous dynamics and time-varying delay. A novel aperiodically intermittent distributed control strategy is proposed to force the state of each agent to the common trajectory, where the configuration of control width and rest width can be aperiodic. Meanwhile, in order to limit the control effects into certain reasonable ranges, an improved saturation algorithm is proposed, which effectively reduces the non-smoothness of the control signal. Sufficient conditions for the exponential consensus on the discontinuous MASs are obtained through the Filippov differential inclusion (FDI), the Lie derivative method (LDM) and the measurement selection theorem (MST). Finally, the validity and feasibility of the main theories is demonstrated by numerical simulations. • The consensus on multi-agent systems with discontinuous nonlinear dynamics and time-varying delay is considered in this paper by introducing the Filippov regularization process. • This paper puts forward a novel aperiodically intermittent distributed control strategy, which simulates the realistic situations better and extends the application ranges of the intermittent control well. • An improved saturation strategy is designed by combining the Gaussian error function and the differential mean value theorem in order to limit the control effects into certain reasonable ranges. • By applying the Filippov differential inclusion theorem and the measurement selection theorem, sufficient conditions for the exponential consensus on the discontinuous multi-agent systems are obtained. [ABSTRACT FROM AUTHOR]