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Secondly, the novel consensus protocols for followers are given considering the communication failure (null graph). Then the convergence analysis is presented and some sufficient conditions are derived for the consensus tracking in a leader-followers multi-agent network. The analysis tools developed in this paper are based on matrix theory and control theory. Finally, the simulations show that by the proposed theorem, the consensus can be achieved and the control gain can influence the speed of the consensus.<\/jats:p>","DOI":"10.3233\/ifs-151844","type":"journal-article","created":{"date-parts":[[2016,2,9]],"date-time":"2016-02-09T10:58:54Z","timestamp":1455015534000},"page":"1199-1206","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["The consensus of nonlinear multi-agent system with switching topologies and communication failure"],"prefix":"10.1177","volume":"30","author":[{"given":"Tao","family":"Ren","sequence":"first","affiliation":[{"name":"Software College, Northeastern University, Shenyang, China"}]},{"given":"Yi-fan","family":"Wang","sequence":"additional","affiliation":[{"name":"Software College, Northeastern University, Shenyang, China"}]},{"given":"Miao-miao","family":"Liu","sequence":"additional","affiliation":[{"name":"Software College, Northeastern University, Shenyang, China"}]},{"given":"Cai-juan","family":"Li","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, Shenyang, China"}]},{"given":"Yi-yang","family":"Liu","sequence":"additional","affiliation":[{"name":"Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China"}]}],"member":"179","published-online":{"date-parts":[[2015,11,2]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2008.929370"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2007.07.007"},{"key":"e_1_3_2_4_2","first-page":"105","article-title":"Group consensus of multi-agent systems with undirected communication graphs","author":"Yu J.Y.","year":"2009","unstructured":"YuJ.Y. and LiW., Group consensus of multi-agent systems with undirected communication graphs, In: Proc Asian Control Conference, 2009, pp. 105\u2013110.","journal-title":"In: Proc Asian Control Conference"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2010.496056"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2010.03.009"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2009.2031624"},{"key":"e_1_3_2_8_2","first-page":"6544","article-title":"Distributed containment control for multiple nonlinear systems with identical dynamics","author":"Mei J.","year":"2011","unstructured":"MeiJ., RenW. and MaG.F., Distributed containment control for multiple nonlinear systems with identical dynamics, In: Proc 30th Chinese Control Conference, 2011, pp. 6544\u20136549.","journal-title":"In: Proc 30th Chinese Control Conference"},{"key":"e_1_3_2_9_2","first-page":"889","volume-title":"In: Proc 12th International Conference on Control","author":"Wen G.H.","year":"2012","unstructured":"WenG.H., DuanZ.S. and LiZ.K., et al., Consensus tracking of nonlinear multi-agent systems with switching directed topologies, In: Proc 12th International Conference on Control, Automation, Robotics & Vision, 2012, pp. 889\u2013894."},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2010.06.016"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2013.03.002"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCSI.2012.2226507"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2011.0156"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2012.12.020"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2010.2041612"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.01.021"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCSI.2011.2131230"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2014.886136"},{"key":"e_1_3_2_19_2","first-page":"1","article-title":"Performance monitoring for vehicle suspension system via fuzzy positivistic C-means clustering based on accelerometer measurements","author":"Yin S.","year":"2015","unstructured":"YinS. and HuangZ., Performance monitoring for vehicle suspension system via fuzzy positivistic C-means clustering based on accelerometer measurements, IEEE\/ASME Trans on Mechatronics (2015), 1\u20138.","journal-title":"IEEE\/ASME Trans on Mechatronics"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2345331"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2301773"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2308133"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.physa.2006.08.015"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.728880"}],"container-title":["Journal of Intelligent &amp; 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