Consensus Of Multi-agent Systems Based On Sampled-data Control

This paper is concerned with sampled-data control consensus problems of multiple agents with single-integrator dynamics. In the case of control input unconstrained, both synchronous and asynchronous cases are considered. In the synchronous case, the consensus problem is proved to be equivalent to the asymptotic stability problem of a discrete-time switched system. By analyzing the asymptotic stability of the discrete-time switched sys-tem, it is shown that consensus can be reached if the sampling intervals are small, and an allowable upper bound of sampling intervals is obtained. In the asynchronous case, the consensus problem is transformed into the globally asymptotic stability problem of a continuous-time switched system with time-vary ing delays. In virtue of a linear matrix in-equality method, it is proved that consensus can be reached if the delays are small enough, and an admissible upper bound of delays is derived. In the case of a bounded control input, two kinds of sampling control protocol are proposed. The maximum of system sampling interval are derived respectively. Simulations are provided to illustrate the effectiveness of the theoretical results.