Consensus of double integrator multiagent systems under nonuniform sampling and changing topology

<abstract><p>This article considers a consensus problem of multiagent systems with double integrator dynamics under nonuniform sampling. In the considered problem, maximum sampling time can be selected arbitrarily. Moreover, communication graph change to any possible topology as long its associated Laplacian has eigenvalues in an arbitrarily region. Existence controller that ensures this setting is shown when changing graphs are undirected and have spanning tree. Also, explicit bounds for parameters given. A sufficient condition given solve based on making closed loop system matrix contraction using particular coordinate general linear dynamics. It immediately generalizes case graphs. This applied obtain controller.</p></abstract>