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中文摘要：
这份报纸调查控制港口的 Hamiltonian (PCH ) 多代理人系统的产量一致问题与修理并且切换的拓扑学。第一，一个分布式的组产量一致协议经由塑造方法全球性到达稳定性和组产量一致的能量被设计。第二，一个新分布式的控制协议被使用 PCH 系统的结构的性质建议。这个协议的优点是它能由构造一种虚拟邻居转变指导的图到未受指导的图。第三，一个控制协议被设计，扩大 LaSalle0s 不变性原则在联合连接的拓扑学条件下面为交换系统发展了让所有代理人当拓扑学正在切换时，到达输出一致。最后，有模拟的一些解说性的例子被提供表明在这份报纸设计的协议的有效性。
英文摘要：
This paper investigates the output consensus problem of port-controlled Hamiltonian （PCH） multi-agent systems with both fixed and switching topologies. Firstly, a distributed group output consensus protocol is designed via the energy shaping method to reach globally stability and group output consensus. Secondly, a new distributed control protocol is proposed by using the structural properties of the PCH systems. The advantage of this protocol is that it can transform the directed graph to the undirected graph by constructing a kind of virtual neighbors. Thirdly, a control protocol is designed with the extended LaSalle0s invariance principle developed for switched systems under the jointly connected topology condition to make all the agents reach output consensus when the topology is switching. Finally, some illustrative examples with simulations are provided to demonstrate the effectiveness of the protocols designed in this paper.
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