Second-Order Consensus for Multiagent Systems With Switched Dynamics and Sampled Position Data
研究了二阶多智能体系统在连续时间和离散时间子系统切换时的一致性问题，提出一种仅使用采样位置数据的控制协议，并给出了达成一致性的充要条件。
This article studies the consensus control problem of second-order multiagent systems with switching dynamics, which consist of a continuous-time and a discrete-time subsystem. A novel control protocol is proposed for fixed digraphs by using the same control strategy for two subsystems so that the controller can keep the control strategy unchanged when systems switch. Moreover, this control strategy uses only sampled position data at the current sampling time and the previous sampling time to deal with this possible situation when speed information is difficult to be measured, which is also robustness and low cost. Some necessary and sufficient conditions to achieve consensus are derived about the network topology, structure and sampling period. At last, a few simulation examples are given.