随着数字通信技术在工业控制系统的广泛应用，基于采样信息的多智能体系统的一致性跟踪控制成为研究热点。实际工程中，由于受到传感器的漂移、故障以及联合测量的影响，智能体接收的采样信息具有滤波性、连续与采样信息混杂以及不完全性等复杂特性。本项目拟针对具有滤波采样信息、混杂通信信息与不完全采样信息的多智能体系统，考虑测量噪声、通信时滞、恶意对手攻击、未知系统参数与执行器故障等因素，通过构造基于复杂采样信息的分布式观测器，探讨一致性跟踪控制器的设计，建立一致性跟踪误差收敛的充分条件，研究最大允许采样区间、控制参数、多智能体系统的参数与一致性跟踪误差的收敛速度之间的内在联系。本项目的研究结果不仅可以丰富多智能体系统的一致性控制技术，而且能够为一致性理论应用于解决复杂采样信息下的工程问题提供理论依据。

The consensus tracking control of the multi-agent systems has been a focus issue with the wide application of digital communication technology in industrial control systems. In practical engineering, due to the influences of drifts, faults and collaborative measurements of the sensor, the sampled information which the agents accepts has complex characteristics such as filtering, hybrid property of continuous and sampled information and incompleteness. For the multi-agent systems with filtered sampled information, hybrid communication information and incomplete sampled information, considering factors such as measurement noise, communication time-delay, attacks of malicious adversaries, unknown system parameter and actuator faults, this project is devoted to the design of the consensus tracking controller by constructing distributed observer based on complex sampled information. Sufficient conditions are established to guarantee the convergence of the consensus tracking error, and the relationship among the maximal permissible sampling interval, control parameter, parameter of multi-agent systems and the convergence rate of the consensus tracking error is investigated. The research of this project not only enriches the consensus control technique of the multi-agent systems, but also provides theoretical foundation for the application of consensus theory in solving engineering problem with complex sampled information.