Sampled-Data Consensus Protocols for a Class of Second-Order Switched Nonlinear Multiagent Systems

Wencheng Zou, Jian Guo, Choon Ki Ahn, Zhengrong Xiang

Research output: Contribution to journalArticlepeer-review

45 Citations (Scopus)


In this study, the sampled-data consensus problem is investigated for a class of heterogeneous multiagent systems (MASs) in which each agent is described by a second-order switched nonlinear system. Owing to the heterogeneity and the occurrence of dynamic switching in the MASs, the sampled-data consensus protocol design problem is challenging. In this study, two periodic sampled-data consensus protocols and an event-triggered consensus protocol are developed. Here, we first propose a new periodic sampled-data consensus protocol that involves the local objective trajectory interaction among agents. The protocol is then improved by applying the finite-time control and sliding-mode control techniques. Notably, the improved protocol can be implemented without the transmission of constructed auxiliary dynamical variables, which is a major feature of the present study. It is shown that complete consensus of the underlying MASs can be achieved by the two proposed protocols with only sampled-data measurements. To further reduce the communication load, we introduce an event-triggered mechanism to obtain a new protocol. Finally, the effectiveness of the given schemes is demonstrated by considering a numerical example.

Original languageEnglish
Pages (from-to)3726-3737
Number of pages12
JournalIEEE Transactions on Cybernetics
Issue number6
Publication statusPublished - 2023 Jun 1

Bibliographical note

Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grant 61873128, and in part by the National Research Foundation of Korea (NRF) Grant funded by the Korea Government (Ministry of Science and ICT) under Grant NRF- 2020R1A2C1005449.

Publisher Copyright:
© 2013 IEEE.


  • Event-triggered control
  • finite-time control
  • multiagent systems (MASs)
  • nonlinear systems
  • sampled-data consensus
  • switched systems

ASJC Scopus subject areas

  • Software
  • Information Systems
  • Human-Computer Interaction
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications


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