In this article, the output synchronization problem of passive multiagent systems (MASs) with transmission delays and switching graphs is addressed by a novel logic-based distributed switching mechanism. Our result shows that synchronization is reached for arbitrarily large and bounded constant, time varying, or distributed delays, which, compared with the existing results for passive MASs, has an obvious advantage. This delay robustness holds under the very weak connectivity assumptions on the underlying graph, that is, as long as the graph is uniformly jointly strongly connected and switches with a dwell time. The proposed algorithm is applied to the position synchronization problem of multiple robotic manipulators to show its applicability.

中文翻译：

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具有开关图和传输延迟的基于无源的输出同步

在本文中，具有传输延迟和切换图的无源多智能体系统 (MAS) 的输出同步问题通过一种新颖的基于逻辑的分布式切换机制来解决。我们的结果表明，对于任意大且有界的常数、时变或分布式延迟都可以达到同步，与无源 MAS 的现有结果相比，这具有明显的优势。这种延迟鲁棒性在基础图上非常弱的连通性假设下成立，也就是说，只要图是一致地联合强连接并以驻留时间切换。将所提出的算法应用于多机械臂的位置同步问题，以显示其适用性。