Second-Order Consensus for Multiagent Systems via Intermittent Sampled Position Data Control
研究有向通信拓扑下多智能体系统的二阶一致性问题，提出一种仅用采样位置数据的周期性间歇控制策略，并给出达成一致性的充要条件。
In this paper, a second-order consensus for multiagent systems with a directed communication topology is studied. A novel consensus strategy is first proposed, where a periodic intermittent control strategy only with casual sampled position data is used, which not only decreases the operating time and the update rates of conditioners for every individual but also responds effectively to the case of missing velocity information. A necessary and sufficient consensus condition based on the coupling gains, the sampling period, the communication width, and the spectrum of the Laplacian matrix is established to reach the consensus, and the right intervals of the sampling period are given. Furthermore, a delay-induced consensus protocol is designed, and a necessary and sufficient condition is also given, by which the sampling period and the communication width can easily be chosen to achieve the consensus. At last, some simulation examples are given to verify the correctness of the theoretical results.