Distributed optimal consensus of nonlinear multi-agent systems under intermittent communication networks

Distributed sliding mode controllers are proposed to address the optimal consensus problem for high-order nonlinear multi-agent systems under intermittent communication networks. Specifically, agents exchange information with neighbors only during non-overlapping time intervals, whereas all communication ceases completely during the interruption intervals. This feature significantly complicates the achievement of consensus. Under partial observability constraints, unmeasurable states are estimated via adaptive state observers. Additionally, a distributed optimization algorithm is employed to minimize the cost function and construct the optimal reference signal. To mitigate the problem of non-existent high-order derivatives, Hermite interpolation is adopted for optimal virtual signals. The distributed sliding mode controllers are designed to ensure that the tracking error of each agent converges to zero. Finally, stability analysis confirms the boundedness of the closed-loop distributed cooperative optimization framework, and simulation results verify the efficacy of the proposed method in practical scenarios.