Sampled-based consensus for nonlinear multi-agent systems with average graph

In this paper, we discuss the consensus problem for a class of nonlinear multiagent systems (MASs) with sampled-data and switched topologies. Considering the topology switching among a set of disconnected graphs, we propose "average graph" based on the switching frequency. We then introduce a sampled-based consensus protocol to guarantee that the MAS network will achieve consensus. By means of the Lyapunov function and contradiction theory, we derive the consensus criterion in which the average graph of the MAS communication network contains a directed spanning tree. Moreover, the allowable upper bound of the sampling period is obtained from the Laplacian matrix of the average graph. A numerical example is, finally, given to verify the effectiveness of the theoretical results.