Consensus of Leader-Following Multi-Agent Systems with Sampling Information under Directed Networks

The consensus algorithm is proposed to solve the bounded consensus tracking problems of leader-following multi-agent systems under directed networks, where the control input of an agent can only use the information measured at the sampling instants from its neighbors or the virtual leader. Based on the delay decomposition approach, the augmented matrix method and the frequency domain analysis, the necessary and sufficient conditions are obtained, which guarantee that the bounded consensus tracking is realized.