Distributed cooperation of directed coupled double-integrator agents using sampled and delayed position data

This paper considers how to design consensus algorithms using only sampled position data instead of involving real-time ones under directed coupling graphs. The proposed consensus algorithm utilizes only sampled position information and consists of two parts: a general part with communication delay and a special part with both communication and forced delays. A necessary and sufficient condition is provided for achieving consensus under the designed cooperative control law. Simulations are also provided to validate the proposed control protocol.