Sampled-Data Consensus Protocols for a Class of Second-Order Switched Nonlinear Multiagent Systems

Wencheng Zou, Jian Guo, Choon Ki Ahn, Zhengrong Xiang

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


In this study, the sampled-data consensus problem is investigated for a class of heterogeneous multiagent systems (MASs) in which each agent is described by a second-order switched nonlinear system. Owing to the heterogeneity and the occurrence of dynamic switching in the MASs, the sampled-data consensus protocol design problem is challenging. In this study, two periodic sampled-data consensus protocols and an event-triggered consensus protocol are developed. Here, we first propose a new periodic sampled-data consensus protocol that involves the local objective trajectory interaction among agents. The protocol is then improved by applying the finite-time control and sliding-mode control techniques. Notably, the improved protocol can be implemented without the transmission of constructed auxiliary dynamical variables, which is a major feature of the present study. It is shown that complete consensus of the underlying MASs can be achieved by the two proposed protocols with only sampled-data measurements. To further reduce the communication load, we introduce an event-triggered mechanism to obtain a new protocol. Finally, the effectiveness of the given schemes is demonstrated by considering a numerical example.

Original languageEnglish
JournalIEEE Transactions on Cybernetics
Publication statusAccepted/In press - 2022


  • Consensus protocol
  • Control systems
  • Event-triggered control
  • finite-time control
  • Multi-agent systems
  • multiagent systems (MASs)
  • Nonlinear dynamical systems
  • nonlinear systems
  • sampled-data consensus
  • switched systems
  • Switches
  • Topology
  • Trajectory

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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