Distributed Control for Nonlinear Time-Delay Multiagent Systems: Hybrid Saturation-Constraint Impulsive Approach
研究了通信受限和时延下多智能体系统的脉冲一致性问题，提出结合事件触发策略和脉冲控制的新协议，在避免Zeno行为的同时降低通信频率，并给出两种饱和约束下实现一致性的充分条件。
This article mainly studies the problem of impulse consensus of multiagent systems under communication constraints and time delay. Considering the limited communication bandwidth of the agent, global and partial saturation constraints are considered. In addition, so as to further improve communication efficiency by reducing communication frequency, the novel control protocol combining event-triggered strategy and general impulse control protocol is proposed. Under this kind of novel control protocol, the communication frequency of multiagent systems can be reduced while avoiding "Zeno behavior." Through theoretical analysis, sufficient conditions for the systems to achieve consensus are obtained for the above two saturation constraint cases. In the end, the effectiveness of the novel protocols is proved by providing two different simulation instances.