This article investigates the consensus control problem for second-order multiagent systems with switched dynamics, consisting of a continuous-time subsystem and a discrete-time subsystem. Under a fixed directed topology, two linear control protocols are proposed for achieving consensus. One is that two subsystems use different control inputs, where the continuous-time system uses continuous-time control, and the discrete-time system uses discrete-time control. In order to reach consensus for this kind of control protocol, some necessary and sufficient conditions are derived. The other is to use the same control algorithm for the two subsystems, which is a sampled-data control input. Similar consensus conditions are also obtained. Finally, a few simulation examples are given to verify the theoretical results.

中文翻译：

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具有切换动态的多智能体系统的二阶共识


本文研究了具有切换动力学的二阶多智能体系统的共识控制问题，该系统由连续时间子系统和离散时间子系统组成。在固定有向拓扑下，提出了两种线性控制协议来达成共识。一是两个子系统采用不同的控制输入，其中连续时间系统采用连续时间控制，离散时间系统采用离散时间控制。为了对这种控制协议达成共识，需要推导出一些充要条件。另一种是两个子系统使用相同的控制算法，即采样数据控制输入。也获得了类似的共识条件。最后给出了几个仿真例子来验证理论结果。