非線形性およびエージェント間通信遅延を伴う異種マルチエージェントサンプリングデータ制御システムのコンセンサス条件

This paper aims to address the consensus problem of heterogeneous nonlinear multi-agent systems (MASs) under sampled-data control with inter-agent communication delays. To tackle this problem effectively, a two-sided looped Lyapunov-Krasovskii functional is proposed to jointly capture sampling-induced holding and network-induced delays, while accounting for heterogeneous agent dynamics with Lipschitz nonlinearities. Since applying a looped functional approach to the consensus problem of multi-agent systems can lead to excessive computational complexity, the proposed framework is structured to reduce conservatism and facilitate scalable condition design by unifying heterogeneous network delays and systematically distinguishing between state sampling and control update instants. In the examples, the influence of the variables used in the looped functional on performance and computational burden is analyzed, and the practical feasibility of the proposed approach is demonstrated through simulations on the angular position consensus problem in a multi-agent system composed of brushed DC motors.