Further analysis for consensus of hybrid multiagent systems: A unified framework

Abstract

Hybrid multiagent systems exist widely in real world and have been applied in many engineering fields. In this article, we consider the consensus problem for the hybrid multiagent system consisting of continuous‐time and discrete‐time dynamic agents. Different from the previous works, in this article, the interactions between different agents no longer only occur at the sampling time, but continuous‐time dynamic agents can interact with their continuous‐time dynamic neighbors in real time. By using graph theory and differential mean value theorem of matrix function, a consensus criterion is obtained for the hybrid multiagent system. A unified framework is also established for the consensus of continuous‐time and discrete‐time multiagent systems. Finally, a simulation example is given to illustrate the validity of our protocol.

Containment control of hybrid multi‐agent systems

“…Suppose that the sampling period h = 0.3 and the feedback gains k 1 = 2 and k 2 = 5, which satisfy the condition (30). By using distributed protocol (29), the state trajectories of followers and leaders are depicted in Figure 8. And we find that the DT follower F 1 ∼ F 5 asymptotically converge to the convex hull spanned by the positions of the CT leader R 6 ∼ R 8 and the velocity of all agents eventually converge to zero.…”