In this paper, we consider data-sampling controllability of multi-agent systems (MASs), where the interconnection topology is directed and weighted and the nodes have generic linear kinetic dynamics. First, the asynchronous data sampling protocols and synchronous data sampling protocols are proposed, respectively. Then the discussions focus on deriving the necessary and sufficient conditions for data-sampling controllability of MASs with a single leader and multiple leaders. The criteria for data-sampling controllability are derived in terms of recursions of matrix multiplication. For the single-leader situation, the asynchronous data-sampling controllability is equivalently transformed to be the output controllability of a discrete linear system. For the multiple-leader situation, the asynchronous data-sampling controllability is equivalently transformed to be the output controllability of a discrete time-delayed linear system. Finally, the synchronous data-sampling controllability is discussed as a special case of asynchronous data-sampling controllability. Two numerical examples are given to illustrate the effectiveness of the theoretical results.

中文翻译：

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多主体系统的数据采样可控性

在本文中，我们考虑了多智能体系统（MAS）的数据采样可控性，在该系统中，互连拓扑是有方向性和加权的，并且节点具有通用的线性动力学动力学。首先，分别提出了异步数据采样协议和同步数据采样协议。然后，讨论集中在推导具有单个领导者和多个领导者的MAS的数据采样可控性的必要和充分条件。数据采样可控性的标准是根据矩阵乘法的递归得出的。对于单领导者情况，异步数据采样的可控制性等效地转换为离散线性系统的输出可控制性。对于多领导者的情况，异步数据采样的可控制性等效地转换为离散时滞线性系统的输出可控制性。最后，讨论了异步数据采样可控性的一种特殊情况，即同步数据采样可控性。给出两个数值例子来说明理论结果的有效性。