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

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    This study addresses sampled-data consensus for heterogeneous multiagent systems (MASs) with nonlinear switched dynamics. New protocols achieve consensus using limited data, reducing communication load via event-triggered mechanisms.

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    Area of Science:

    • Control Theory
    • Robotics
    • Networked Systems

    Background:

    • Investigating consensus in heterogeneous multiagent systems (MASs) with complex dynamics presents significant challenges.
    • The presence of second-order switched nonlinear systems and sampled-data measurements complicates protocol design.

    Purpose of the Study:

    • To develop novel sampled-data consensus protocols for heterogeneous multiagent systems (MASs).
    • To address the challenges posed by system heterogeneity and dynamic switching.
    • To reduce communication load through event-triggered mechanisms.

    Main Methods:

    • Design of two periodic sampled-data consensus protocols, one incorporating local objective trajectory interaction.
    • Improvement of protocols using finite-time control and sliding-mode control techniques.
    • Development of an event-triggered consensus protocol to minimize communication.

    Main Results:

    • Achieved complete consensus in heterogeneous MASs using only sampled-data measurements.
    • Demonstrated the effectiveness of protocols without transmitting auxiliary dynamical variables.
    • Validated the proposed schemes through a numerical example.

    Conclusions:

    • The developed periodic and event-triggered protocols effectively achieve sampled-data consensus in complex MASs.
    • The novel approach reduces communication overhead, enhancing practical applicability.
    • Finite-time and sliding-mode control integration offers robust and efficient consensus solutions.