主要针对固定拓扑网络下具有通信时延的多自主体离散系统, 研究了二阶离散系统的一致采样控制. 应用Z变换, 分析了离散时间系统的动态运动方程. 根据广义Nyquist判据, 得到了二阶时延离散系统渐近收敛到一致的采样周期的上界. 最后通过实例仿真, 进一步验证了理论结果的正确性.

Consistency sampling control of the second order discrete-time multi-agent system with fixed topology network and time-delays is studied in this paper. By applying Z transformation, dynamic equations of the discrete-time system are analyzed. Based on the generalized Nyquist criterion, the upper bound of the sampling period is obtained to ensure the asymptotical convergence of the discrete-time multi-agent system with time-delays. Finally, simulation results show the effectiveness of the theoretical conclusion.