In this paper, we investigate the problem of achieving node-to-node consensus (NNC) in two-layer multiple-input-multiple-output (MIMO) multi-agent systems (MASs) with Lipschitz nonlinear dynamics and intermittent directed networks, where the cooperative goal is to make each follower to track a specified leader. By using the relative outputs, discontinuous observers are given to reconstruct the full states of followers and then feedback controllers are designed. Furthermore, some NNC criteria are given by investigating stability of the error system. To verify the obtained results, a simulation is performed.

中文翻译：

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具有间歇网络的多智能体系统基于观察者的节点到节点共识

在本文中，我们研究在具有Lipschitz非线性动力学和间歇性有向网络的两层多输入多输出（MIMO）多智能体系统（MAS）中实现节点对节点共识（NNC）的问题，其中合作的目标是使每个跟随者跟踪指定的领导者。通过使用相对输出，给出了不连续的观察者以重构跟随器的完整状态，然后设计了反馈控制器。此外，通过研究错误系统的稳定性，给出了一些NNC标准。为了验证所获得的结果，进行了仿真。