Leader-Following Consensus of Multi-Agent Systems via Asynchronous Sampled-Data Control: A Hybrid Systems Approach

In this technical note, we develop a hybrid systems approach for sampled-data based leader-following consensus of multi-agent systems over static/switching directed network. First, an asynchronous sampled-data hybrid consensus control protocol is proposed, which has an extra reset control part in contrast with traditional linear control protocol, and is beneficial for achieving better transient consensus performance. Then, with several properly defined internal variables, a hybrid model consisting of both flow and jump dynamics is constructed to describe the closed-loop dynamics. Based on this model and internal decreasing functions, Lyapunov-based stability conditions are derived, and larger upper bound of sampling period can be obtained compared to the existing related work. Finally, an example is given to show the superiority of the proposed approach.