Relative States-Based Consensus for Sampled-Data Second-Order Multiagent Systems With Time-Varying Topology and Delays
研究了采样数据二阶多智能体系统在切换拓扑和时变时延下的共识问题，提出了两种不依赖绝对状态的共识协议，并给出了同步条件。
In this article, the consensus problem of sampled-data second-order integrator multiagent systems with switching topology and time-varying delay is studied. And, a zero rendezvous speed is not required in the problem. Two new consensus protocols that employ no absolute states are proposed, depending on the presence of delay. Sufficient synchronization conditions are obtained for both protocols. It is shown that consensus can be reached, provided there is a sufficiently small gain and periodically joint connectivity in the sense of scrambling graph or spanning tree. Finally, both numerical and practical examples are supplied for illustrative purpose, and both show the effectiveness of the theoretical results.