Soft Computing

, Volume 23, Issue 2, pp 707–714 | Cite as

Swarming movement of dynamical multi-agent systems with sampling control and time delays

  • Fusheng Wang
  • Hongyong YangEmail author
  • Yize Yang
Methodologies and Application


In the complex environments, sampling control has been extensively applied in continue-time systems by means of digital sensors with high reliability and stability. In this paper, swarming movement (or containment consensus) of fractional-order multi-agent systems (FOMAS) with sampling control are studied. Firstly, the collaborative control of fractional-order multi-agent systems with multiple leaders and sapling data is analyzed in an undirected network without delays. A necessary and sufficient condition is presented for the bounded value of sampling period to ensure the containment consensus of FOMAS. Then, by applying Laplace transformation and stability theorem, containment consensus of distributed FOMAS with time delays is investigated in an undirected network. A necessary and sufficient condition is obtained for the bounded value of sampling period and a critical value of delays. Finally, numerical simulations are shown to verify the results.


Swarming movement Containment control Multi-agent systems Fractional-order Sampling control Time delays 



Project supported by the National Natural Science Foundation of China (Grants Nos. 61673200, 61603172 and 61472172) and by the Natural Science Foundation of Shandong Province of China (Grant No. BS2014DX016).

Compliance with ethical standards

Conflict of interest

This paper has no conflicts of interest statements with other papers.


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Information and Electrical EngineeringLudong UniversityYantaiChina

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