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2012-57-9-TAC-采样一致+二阶积分器+非一致时变时延.pdf

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2012-57-9-TAC-采样一致二阶积分器非一致时变时延

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 57, NO. 9, SEPTEMBER 2012 2417 A Sufﬁcient Condition for Convergence of Sampled-Data proposes a consensus strategy using the measurements of the relative Consensus for Double-Integrator Dynamics With positions between neighboring agents to estimate the relative velocities. Nonuniform and Time-Varying Communication Delays In [13], consensus problems of second-order multi-agent systems with nonuniform time delays and dynamically changing topologies is Jiahu Qin, Student Member, IEEE, and investigated. However, the paper considers a discrete-time model es- Huijun Gao, Senior Member, IEEE timated by using the forward difference approximation method rather than a sampled-data model. In general, a sampled-data model is more realistic. Also, in [13], the weighting factors must be chosen from a ﬁnite set. With this background, we study the convergence of sam- Abstract— This technical note investigates a discrete-time second-order pled-data consensus for double-integrator dynamics under dynamically consensus algorithm for networks of agents with nonuniform and time- varying communication delays under dynamically changing communica- changing topologies and allow the communication delays to be not only tion to