Consensus of multi-agent systems based on sampled-data control

Yanping Gaoa*, Long Wanga, Guangming Xiea & Bin Wua a Center for Systems and Control, College of Engineering and Key Laboratory of Machine Perception (Ministry of Education) , Peking University , Beijing, 100871, China * E-mail: gaoyanping@pku.edu.cn This article studies the consensus problem in directed networks, assuming that each agent is with double-integrator dynamics and only obtains the measurements of its positions relative to its neighbours at sampling instants. We propose a protocol based on sampled-data control and derive an equivalent characterisation of the solvability of the consensus problem under this protocol. In virtue of this equivalent characterisation, we further consider two cases: fixed topology and switching topology. For the first case, we present a set of sampling periods and feedback coefficients which ensure that the protocol can solve a consensus problem. For the second case, we derive sufficient conditions for the protocol to solve a consensus problem under arbitrary switching signals and under a class of switching signals, respectively. Finally, simulations are provided to illustrate the effectiveness of the theoretical results.