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Sampled-Data-Based Consensus and $L_{2}$ -Gain Analysis for Heterogeneous Multiagent Systems.

Sheng-Li Du, Weiguo Xia, Xi-Ming Sun

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    Summary
    This summary is machine-generated.

    This study addresses consensus in heterogeneous multiagent systems with communication failures. Conditions on failure frequency and length ensure system consensus and L2-gain performance, even with intermittent communication loss.

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    Area of Science:

    • Control Systems Engineering
    • Networked Systems
    • Robotics

    Background:

    • Heterogeneous multiagent systems (MAS) present unique control challenges.
    • Communication failures can disrupt consensus in sampled-data systems.
    • Directed graph topologies add complexity to MAS coordination.

    Purpose of the Study:

    • To investigate the sampled-data-based consensus problem for heterogeneous MAS under directed graphs.
    • To analyze the impact of communication failures on system consensus.
    • To establish conditions for achieving consensus and L2-gain performance despite communication disruptions.

    Main Methods:

    • Introduction of novel concepts: communication failure frequency and communication failure length.
    • Application of switching techniques for system analysis.
    • Utilization of Lyapunov stability theory for deriving stability conditions.
    • Formulation of sufficient conditions using linear matrix inequalities (LMIs).

    Main Results:

    • Sufficient conditions derived using LMIs guarantee consensus achievement.
    • The proposed method ensures the heterogeneous MAS maintains a desired L2-gain performance.
    • Consensus is achievable even with intermittent communication failures, provided specific conditions are met.

    Conclusions:

    • The study provides a robust framework for achieving consensus in heterogeneous MAS with communication failures.
    • The derived conditions are effective in ensuring both consensus and performance guarantees.
    • Simulation results validate the proposed method's effectiveness in practical scenarios.