The asynchronously switched multi-agent systems comprising switched agents of different dynamics and switching signals are considered under arbitrarily switching communication topologies. The practical output synchronization problem is studied for such a kind of systems due to the heterogeneity brought by both the dynamics and the switchings of agents. A switching-dependent controller with an embedded virtual reference system is proposed for each agent. The original problem is then converted into tracking problems between each agent and its reference system. The analysis of resultant tracking error systems involves the analysis of switched systems with bounded but non-attenuating state impulses. By satisfying sufficient conditions featuring the average dwell time (ADT) and the newly proposed piecewise ADT, the practical output synchronization can be achieved and the ultimate bound of the output errors can also be obtained for the considered systems. Furthermore, a realistic case where the agent switching signals undergo adverse fast-switching perturbations is studied. The perturbations may potentially invalidate the “slow-switching” based method. A regulation strategy is thus developed for each agent to render it adaption to such adversity. A payload transport task is taken as the practical example to illustrate the effectiveness of the proposed method and the adaption strategy.

在任意切换的通信拓扑下考虑了包括不同动态的切换代理和切换信号的异步切换多代理系统。由于代理的动态和切换都带来了异质性，因此针对此类系统研究了实际的输出同步问题。对于每个代理，提出了具有嵌入式虚拟参考系统的开关相关控制器。然后，将原始问题转换为每个代理与其参考系统之间的跟踪问题。结果跟踪误差系统的分析涉及对有界但非衰减状态脉冲的开关系统的分析。通过满足具有平均停留时间（ADT）和新提出的分段ADT的充分条件，对于所考虑的系统，可以实现实际的输出同步，并且还可以获得输出误差的极限。此外，研究了一种实际情况，其中代理切换信号受到不利的快速切换扰动。扰动可能会使基于“慢切换”的方法无效。因此，为每个代理开发了一种调节策略，以使其适应这种逆境。以有效载荷运输任务为例，说明了所提方法和自适应策略的有效性。扰动可能会使基于“慢切换”的方法无效。因此，为每个代理开发了一种调节策略，以使其适应这种逆境。以有效载荷运输任务为例，说明了所提方法和自适应策略的有效性。扰动可能会使基于“慢切换”的方法无效。因此，为每个代理开发了一种调节策略，以使其适应这种逆境。以有效载荷运输任务为例，说明了所提方法和自适应策略的有效性。