Second-Order Consensus for Multiagent Systems via Intermittent Sampled Data Control
提出一种周期性间歇采样数据控制策略，研究多智能体系统的二阶一致性问题，给出了达成一致性的充要条件，并分析了通信宽度、采样周期、耦合增益和时延的影响。
In this paper, a periodic intermittent sampled data control strategy, which both reduces the load of updating rate of the controller and cuts down the working time of the controller in each sampling interval, is proposed to investigate the second-order consensus of multiagent systems. In order to reach consensus, a necessary and sufficient condition depending on the coupling gains, the communication width, the sampling period, and the spectrum of the Laplacian matrix, is established. Furthermore, the feasible region of communication width is derived for given coupling gains and structure of network. Besides, the coupling gains are also carefully designed. On the other hand, when the time delay exists in the sampling process, a time delayed protocol is proposed. A necessary and sufficient condition based on the communication width, the sampling period, the coupling gains, the time delay, and the network structure is also derived for achieving consensus. It is amazing found that the sampling period should have both lower and upper bounds for given time delay and communication width for the sake of reaching consensus. Finally, several numerical simulations are presented to demonstrate the effectiveness of the theoretical results.