Distributed PWM Control for Asymptotic State Agreement of Multi-Agent Systems in Directed Switching Networks with Time Delays

Distributed PWM Control for Asymptotic State Agreement of Multi-Agent Systems in Directed Switching Networks with Time Delays | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Distributed PWM Control for Asymptotic State Agreement of Multi-Agent Systems in Directed Switching Networks with Time Delays Zhanxiu Wang, Jingwei Xu, Zhenghong Jin This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8137259/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 13 You are reading this latest preprint version Abstract In this paper, a distributed pulse-width-modulated (PWM) control problem is studied for asymptotic state agreement of single-integrator agents with time delays. The interactions between agents can be nonlinear, and the communication topology is allowed to be directed and time-varying, provided that a mild joint connectivity condition is satisfied. Due to the presence of nonlinear dynamics, time delays and switching topologies, conventional control methods cannot be readily applied to solve the coordination problem, especially in the context of distributed PWM control. To this end, a systematic solution is developed in this paper to overcome the dilemma—necessary and sufficient conditions are provided for achieving asymptotic state agreement of the PWM-controlled multi-agent systems. Numerical examples are included to illustrate the theoretical results. Multi-agent systems pulse width modulation asymptotic state agreement time delays switched systems Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Editorial decision: Revision requested 10 Feb, 2026 Reviews received at journal 05 Feb, 2026 Reviews received at journal 12 Jan, 2026 Reviews received at journal 31 Dec, 2025 Reviews received at journal 25 Dec, 2025 Reviewers agreed at journal 18 Dec, 2025 Reviewers agreed at journal 17 Dec, 2025 Reviewers agreed at journal 16 Dec, 2025 Reviewers agreed at journal 08 Dec, 2025 Reviewers invited by journal 08 Dec, 2025 Editor assigned by journal 27 Nov, 2025 Submission checks completed at journal 24 Nov, 2025 First submitted to journal 17 Nov, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8137259","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":558253159,"identity":"33aeaff7-4550-4120-bacf-ada4bad7c32b","order_by":0,"name":"Zhanxiu Wang","email":"","orcid":"","institution":"Yancheng Teachers University","correspondingAuthor":false,"prefix":"","firstName":"Zhanxiu","middleName":"","lastName":"Wang","suffix":""},{"id":558253160,"identity":"0bdd8705-7c3f-4094-8a3c-60735e4b5cf8","order_by":1,"name":"Jingwei Xu","email":"","orcid":"","institution":"Northeast Agricultural University","correspondingAuthor":false,"prefix":"","firstName":"Jingwei","middleName":"","lastName":"Xu","suffix":""},{"id":558253161,"identity":"62a24955-da0b-4052-bf8f-75f59a89fdd6","order_by":2,"name":"Zhenghong Jin","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAwElEQVRIiWNgGAWjYDACCYaEA2AGe2Pjww+kaeE53GwsQaQWGCO9TYCHGB3ysxseHi5guCNncPNhG1C/nZxuAwEtjHMOJByewfDM2OB2YtuDAoZkY7MDBLQwSyQkHOZhOJy44XZiu4EEw4HEbYS0sEG11G+4ebBNgocYLTxQLQkGNxiJ1CIB1WI480wiMJANiPCL/Iyc5M9ALfJ8x48/fPihwk6OoBag0xIYGP/BOAYElYMAO2FTR8EoGAWjYIQDAAxEQ5e243m9AAAAAElFTkSuQmCC","orcid":"","institution":"Nanyang Technological University","correspondingAuthor":true,"prefix":"","firstName":"Zhenghong","middleName":"","lastName":"Jin","suffix":""}],"badges":[],"createdAt":"2025-11-17 15:38:25","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-8137259/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-8137259/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":98019001,"identity":"b4cbc251-765a-4b77-9dee-c6da9782e664","added_by":"auto","created_at":"2025-12-11 22:46:29","extension":"json","order_by":0,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":4322,"visible":true,"origin":"","legend":"","description":"","filename":"0f5a9173b02944e2b0658bff66f5661e.json","url":"https://assets-eu.researchsquare.com/files/rs-8137259/v1/d26ced9dcab56ea1e4f5e807.json"},{"id":98425720,"identity":"d2df1903-95b1-42e5-9c4a-41baae844410","added_by":"auto","created_at":"2025-12-17 16:35:08","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":587633,"visible":true,"origin":"","legend":"","description":"","filename":"PWMdelayND.pdf","url":"https://assets-eu.researchsquare.com/files/rs-8137259/v1_covered_2468d892-9a89-46b9-a539-edd94c4a772e.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"\u003cp\u003eDistributed PWM Control for Asymptotic State Agreement of Multi-Agent Systems in Directed Switching Networks with Time Delays\u003c/p\u003e","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"nonlinear-dynamics","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"nody","sideBox":"Learn more about [Nonlinear Dynamics](https://www.springer.com/journal/11071)","snPcode":"11071","submissionUrl":"https://submission.nature.com/new-submission/11071/3","title":"Nonlinear Dynamics","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Multi-agent systems, pulse width modulation, asymptotic state agreement, time delays, switched systems","lastPublishedDoi":"10.21203/rs.3.rs-8137259/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-8137259/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"In this paper, a distributed pulse-width-modulated (PWM) control problem is studied for asymptotic state agreement of single-integrator agents with time delays. 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