Consensus in multi-agent systems with non-uniform sampling

This paper is concerned with the consensus problem in multi-agent systems with double-integrator dynamics and non-uniform sampling. The communication topology is assumed to be fixed and directed. A control protocol with time-varying gains is proposed. The results on stochastic matrices play an important role in the convergence analysis of consensus. We prove that when the directed graph has a spanning tree and the control gains are properly chosen, consensus can be achieved. Numerical simulation is provided to verify the effectiveness of the proposed method.