Sampled-data consensus in multi-agent systems with asynchronous hybrid event-time driven interactions

This paper investigates sampled-data consensus in an undirected network of multiple integrators and characterizes the effectiveness of a hybrid event-time driven consensus protocol in different asynchronous scheduling schemes of event detection in terms of interaction topology, asynchronous matrix, and time delays. The proposed hybrid driven protocol has the benefit of guaranteed performance at reduced communication and computation costs and has robustness against interaction/event-detection time delays. Furthermore, the obtained results are still valid in many other practical situations, such as sampled-data consensus with measurement errors and quantized consensus.