Liu Yifan, Su Housheng, Zeng Zhigang
IEEE Trans Cybern. 2022 Jun;52(6):4105-4114. doi: 10.1109/TCYB.2020.3015977. Epub 2022 Jun 16.
This article investigates the consensus control problem for second-order multiagent systems with switched dynamics, consisting of a continuous-time subsystem and a discrete-time subsystem. Under a fixed directed topology, two linear control protocols are proposed for achieving consensus. One is that two subsystems use different control inputs, where the continuous-time system uses continuous-time control, and the discrete-time system uses discrete-time control. In order to reach consensus for this kind of control protocol, some necessary and sufficient conditions are derived. The other is to use the same control algorithm for the two subsystems, which is a sampled-data control input. Similar consensus conditions are also obtained. Finally, a few simulation examples are given to verify the theoretical results.
本文研究了具有切换动力学的二阶多智能体系统的一致性控制问题，该系统由一个连续时间子系统和一个离散时间子系统组成。在固定有向拓扑结构下，提出了两种线性控制协议来实现一致性。一种是两个子系统使用不同的控制输入，其中连续时间系统使用连续时间控制，离散时间系统使用离散时间控制。为了使这种控制协议达成一致性，推导了一些充要条件。另一种是两个子系统使用相同的控制算法，即采样数据控制输入。也得到了类似的一致性条件。最后，给出了一些仿真例子来验证理论结果。
