[4] [4] MAHMOOD A, KIM Y S.Leader-following formation control of quadcopters with heading synchronization［J］.Aerospace Science & Technology, 2015, 47:68-74.

[5] [5] LIU H, XIE G, LONG W.Necessary and sufficient conditions for solving consensus problems of double-integrator dynamics via sampled control［J］.International Journal of Robust & Nonlinear Control, 2010, 20(15):1706-1722.

[6] [6] HE W, YU W, WEN G, et al.Finite-time bipartite consensus for multi-agent systems on directed signed networks［J］.IEEE Transactions on Circuits & Systems I:Regular Papers, 2018, 65(12):4336-4348.

[8] [8] KARL J A, WITTENMARK B.Computer-controlled systems:theory and design［M］.2nd ed.Saddle River, NJ: Prentice-Hall, Inc., 1990.

[9] [9] MA C, ZHAO Y, SUN W.Event-triggered bipartite consensus of single-integrator multi-agent systems with measurement noise［J］.Journal of Control Science and Engineering, 2018, 2018:1-9.

[10] [10] XU W Y, HO D W, LI L L, et al.Event-triggered schemes on leader-following consensus of general linear multiagent systems under different topologies［J］.IEEE Transactions on Cybernetics, 2015, 47(1):212-223.

[12] [12] LIU X Y, SUN J, DOU L H, et al.Leader-following consensus for discrete-time multi-agent systems with parameter uncertainties based on the event-triggered strategy［J］.Journal of Systems Science & Complexity, 2017, 30(1):30-45.