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Delayed Impulsive Control for Consensus of Multiagent Systems With Switching Communication Graphs.

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    This study introduces delayed impulsive controllers for multiagent systems (MASs) to achieve state consensus. Bounded delays and impulse intervals ensure consensus, validated by a numerical example.

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    Area of Science:

    • Control Theory
    • Systems Engineering
    • Robotics

    Background:

    • Multiagent systems (MASs) often face challenges in achieving state consensus due to complex dynamics.
    • Factors like delay-dependent impulses, aperiodic sampling, and switching communication graphs complicate MAS analysis.

    Purpose of the Study:

    • To propose delayed impulsive controllers for second-order MASs to achieve state consensus.
    • To develop analytical methods for consensus behavior under challenging conditions.

    Main Methods:

    • Discretization method
    • State augmentation
    • Linear state transformation
    • Analysis of delay-dependent impulses, aperiodic sampling, and switching communication graphs.

    Main Results:

    • Sufficient consensus criteria were established for impulsive intervals and control parameters.
    • Consensus in closed-loop MASs is achievable with bounded nonuniform delays and impulse intervals by selecting appropriate control parameters.

    Conclusions:

    • The proposed delayed impulsive controllers effectively enable state consensus in second-order MASs.
    • The developed analytical approach provides a robust framework for analyzing complex MAS dynamics.