Sampled-Data-Based Consensus and $L_{2}$ -Gain Analysis for Heterogeneous Multiagent Systems
研究了有向图拓扑下存在通信故障的异构多智能体系统，通过采样数据控制，在满足通信故障频率和长度条件时实现一致性并保持L2增益性能。
This paper is concerned with the sampled-data-based consensus problem of heterogeneous multiagent systems under directed graph topology with communication failure. The heterogeneous multiagent system consists of first-order and second-order integrators. Consensus of the heterogeneous multiagent system may not be guaranteed if the communication failure always happens. However, if the frequency and the length of the communication failure satisfy certain conditions, consensus of the considered system can be reached. In particular, we introduce the concepts of communication failure frequency and communication failure length. Then, with the help of the switching technique and the Lyapunov stability theory, sufficient conditions are derived in terms of linear matrix inequalities, which guarantees that the heterogeneous multiagent system not only achieves consensus but also maintains a desired L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> -gain performance. A simulation example is given to show the effectiveness of the proposed method in this paper.