In this paper, a hybrid protocol which can control multi-agent systems to achieve “leader-following consensus” is proposed, the control protocol is periodic and is composed of continuous control and impulse control. Considering the power limitation and the time error of the actual industrial production equipments, the impulse saturation effects and the impulse time window are introduced. In this paper, the multi-agent system is modeled, one of the agents is designated as the leader, and the rest of the agents are the followers. Then the error system equations of the multi-agent system is derived. The stability of the error system is analyzed by constructing the Lyapunov function. Theorem 1 and theorem 2 are obtained as the criteria of state consensus of the multi-agent system. Finally, a numerical experiment is carried out to verify the reliability and efficiency of the conclusions are given in this paper. Because it takes into account the impulse time window and impulse saturation effects, which is more in line with the actual industrial production.

中文翻译：

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通过具有饱和效应的混合协议实现多智能体系统的领导者跟随共识

本文提出了一种可以控制多智能体系统实现“领导者跟随共识”的混合协议，该控制协议是周期性的，由连续控制和脉冲控制组成。考虑到实际工业生产设备的功率限制和时间误差，引入了脉冲饱和效应和脉冲时间窗。在本文中，多智能体系统被建模，其中一个智能体被指定为领导者，其余的智能体是跟随者。然后推导出多智能体系统的误差系统方程。通过构造Lyapunov函数来分析误差系统的稳定性。得到定理 1 和定理 2 作为多智能体系统状态一致性的判据。最后，通过数值实验验证了本文结论的可靠性和有效性。因为它考虑了脉冲时间窗口和脉冲饱和效应，更符合实际工业生产。