Consensus for damaged multi-agent system

In this paper, a theoretical framework for information consensus problem was presented for damaged multi-agent networked systems with an emphasis on the dynamically changing topology. Based on the algebraic graph theory, a new concept of jointly r-connected for digraph was proposed, and a sufficient and necessary condition for the consensus problem was established when some members of the system were damaged or left the system for other missions. It was shown that the number of the members which can be lost depends on the communication ability of the system. Finally, simulation results were used to demonstrate the effectiveness and correctness of the theoretical work.