{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,22]],"date-time":"2026-07-22T00:04:28Z","timestamp":1784678668266,"version":"3.55.0"},"reference-count":50,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Communications in Nonlinear Science and Numerical Simulation"],"published-print":{"date-parts":[[2026,11]]},"DOI":"10.1016\/j.cnsns.2026.110398","type":"journal-article","created":{"date-parts":[[2026,6,17]],"date-time":"2026-06-17T15:56:21Z","timestamp":1781711781000},"page":"110398","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"P3","title":["Sampled-data cooperative output regulation for lower triangular nonlinear multi-agent systems under switching networks"],"prefix":"10.1016","volume":"162","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6627-4421","authenticated-orcid":false,"given":"Kaiji","family":"Zeng","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5390-309X","authenticated-orcid":false,"given":"Wei","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"12","key":"10.1016\/j.cnsns.2026.110398_bib0001","doi-asserted-by":"crossref","first-page":"6339","DOI":"10.1109\/TAC.2017.2712747","article-title":"Cooperative global robust output regulation for nonlinear output feedback multiagent systems under directed switching networks","volume":"62","author":"Liu","year":"2017","journal-title":"IEEE Trans Autom Control"},{"issue":"2","key":"10.1016\/j.cnsns.2026.110398_bib0002","doi-asserted-by":"crossref","first-page":"676","DOI":"10.1109\/TAC.2021.3053549","article-title":"Distributed optimization of nonlinear multiagent systems: a small-gain approach","volume":"67","author":"Liu","year":"2022","journal-title":"IEEE Trans Autom Control"},{"key":"10.1016\/j.cnsns.2026.110398_bib0003","doi-asserted-by":"crossref","first-page":"10695","DOI":"10.1109\/TCYB.2021.3063481","article-title":"Adaptive finite-time tracking control of nonholonomic multirobot formation systems with limited field-of-view sensors","volume":"52","author":"Dai","year":"2022","journal-title":"IEEE Trans Cybern"},{"key":"10.1016\/j.cnsns.2026.110398_bib0004","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2025.109354","article-title":"Learning-based collision-free cooperative fault-tolerant control for multiple UAVs under denial-of-service attacks","volume":"152","author":"Qian","year":"2026","journal-title":"Commun Nonlinear Sci Numer Simul"},{"issue":"6","key":"10.1016\/j.cnsns.2026.110398_bib0005","doi-asserted-by":"crossref","first-page":"3425","DOI":"10.1109\/TAC.2022.3197125","article-title":"Synchronization of frequency-modulated multiagent systems","volume":"68","author":"Chen","year":"2023","journal-title":"IEEE Trans Autom Control"},{"issue":"1","key":"10.1016\/j.cnsns.2026.110398_bib0006","doi-asserted-by":"crossref","first-page":"693","DOI":"10.1109\/TII.2024.3457811","article-title":"Cloud-based distributed group asynchronous consensus for switched nonlinear cyber-physical systems","volume":"21","author":"Ren","year":"2025","journal-title":"IEEE Trans Ind Inf"},{"issue":"7","key":"10.1016\/j.cnsns.2026.110398_bib0007","doi-asserted-by":"crossref","first-page":"3658","DOI":"10.1109\/TAC.2017.2673411","article-title":"Time-varying formation tracking for linear multiagent systems with multiple leaders","volume":"62","author":"Dong","year":"2017","journal-title":"IEEE Trans Autom Control"},{"issue":"6","key":"10.1016\/j.cnsns.2026.110398_bib0008","doi-asserted-by":"crossref","first-page":"4295","DOI":"10.1137\/19M1296458","article-title":"A low gain approach to output consensus of networked heterogeneous linear multi-agent systems","volume":"59","author":"Lu","year":"2021","journal-title":"SIAM J Control Optim"},{"key":"10.1016\/j.cnsns.2026.110398_bib0009","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2024.108582","article-title":"Polynomial inequality-based consensus pinning control approach to time-delayed second-order multi-agent systems via betweenness centrality","volume":"142","author":"Lee","year":"2025","journal-title":"Commun Nonlinear Sci Numer Simul"},{"issue":"11","key":"10.1016\/j.cnsns.2026.110398_bib0010","doi-asserted-by":"crossref","first-page":"3476","DOI":"10.1016\/j.automatica.2013.08.026","article-title":"Output feedback control of large-scale nonlinear time-delay systems in lower triangular form","volume":"49","author":"Zhang","year":"2013","journal-title":"Automatica"},{"issue":"3","key":"10.1016\/j.cnsns.2026.110398_bib0011","doi-asserted-by":"crossref","first-page":"506","DOI":"10.1109\/TSMC.2018.2855170","article-title":"Adaptive dynamic surface control design for uncertain nonlinear strict-feedback systems with unknown control direction and disturbances","volume":"49","author":"Ma","year":"2019","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"issue":"9","key":"10.1016\/j.cnsns.2026.110398_bib0012","doi-asserted-by":"crossref","first-page":"2378","DOI":"10.1109\/TAC.2015.2400713","article-title":"Cooperative global robust output regulation for nonlinear uncertain multi-agent systems in lower triangular form","volume":"60","author":"Su","year":"2015","journal-title":"IEEE Trans Autom Control"},{"issue":"5","key":"10.1016\/j.cnsns.2026.110398_bib0013","doi-asserted-by":"crossref","first-page":"1724","DOI":"10.1109\/TNNLS.2019.2922174","article-title":"Cooperative adaptive output regulation for lower triangular nonlinear multi-agent systems subject to jointly connected switching networks","volume":"31","author":"Liu","year":"2020","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"issue":"10","key":"10.1016\/j.cnsns.2026.110398_bib0014","doi-asserted-by":"crossref","first-page":"3152","DOI":"10.1109\/TAC.2015.2504728","article-title":"The leader-following consensus for multiple uncertain euler-lagrange systems with an adaptive distributed observer","volume":"61","author":"Cai","year":"2016","journal-title":"IEEE Trans Autom Control"},{"key":"10.1016\/j.cnsns.2026.110398_bib0015","doi-asserted-by":"crossref","first-page":"84","DOI":"10.1016\/j.automatica.2017.02.010","article-title":"Adaptive leader-following consensus for a class of higher-order nonlinear multi-agent systems with directed switching networks","volume":"79","author":"Liu","year":"2017","journal-title":"Automatica"},{"key":"10.1016\/j.cnsns.2026.110398_bib0016","doi-asserted-by":"crossref","first-page":"325","DOI":"10.1016\/j.automatica.2017.12.020","article-title":"Robust adaptive output feedback control to a class of non-triangular stochastic nonlinear systems","volume":"89","author":"Li","year":"2018","journal-title":"Automatica"},{"key":"10.1016\/j.cnsns.2026.110398_bib0017","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2025.108719","article-title":"Non-weighted h\u221e exponential output synchronization for time-delay heterogeneous multi-agent systems with switching topology via distributed observer compensation","volume":"145","author":"Zhang","year":"2025","journal-title":"Commun Nonlinear Sci Numer Simul"},{"issue":"4","key":"10.1016\/j.cnsns.2026.110398_bib0018","doi-asserted-by":"crossref","first-page":"2075","DOI":"10.1109\/TCNS.2024.3372690","article-title":"Steering and formation control of unicycles under single-rate sampling","volume":"11","author":"Mattioni","year":"2024","journal-title":"IEEE Trans Control Netw Syst"},{"key":"10.1016\/j.cnsns.2026.110398_bib0019","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2022.110658","article-title":"Leader-following consensus of multiple rigid body systems by a sampled-data distributed observer","volume":"146","author":"He","year":"2022","journal-title":"Automatica"},{"issue":"4","key":"10.1016\/j.cnsns.2026.110398_bib0020","doi-asserted-by":"crossref","first-page":"2137","DOI":"10.1109\/TII.2012.2235074","article-title":"Consensus in multi-agent systems with second-order dynamics and sampled data","volume":"9","author":"Yu","year":"2013","journal-title":"IEEE Trans Ind Inf"},{"issue":"10","key":"10.1016\/j.cnsns.2026.110398_bib0021","doi-asserted-by":"crossref","first-page":"4805","DOI":"10.1002\/rnc.5503","article-title":"Sampled-data cooperative output regulation of linear multi-agent systems","volume":"31","author":"Liu","year":"2021","journal-title":"Int J Robust Nonlinear Control"},{"key":"10.1016\/j.cnsns.2026.110398_bib0022","doi-asserted-by":"crossref","first-page":"1621","DOI":"10.1016\/j.ins.2022.07.158","article-title":"Sampled-data-based consensus of multi-agent systems with multiplicative noise and time-delays","volume":"609","author":"Zhang","year":"2022","journal-title":"Inf Sci"},{"issue":"8","key":"10.1016\/j.cnsns.2026.110398_bib0023","doi-asserted-by":"crossref","first-page":"1841","DOI":"10.1109\/TCYB.2016.2601488","article-title":"Network-based practical consensus of heterogeneous nonlinear multiagent systems","volume":"47","author":"Ding","year":"2017","journal-title":"IEEE Trans Cybern"},{"issue":"9","key":"10.1016\/j.cnsns.2026.110398_bib0024","doi-asserted-by":"crossref","first-page":"2132","DOI":"10.1109\/TCYB.2015.2466115","article-title":"Consensus of multiagent systems using aperiodic sampled-data control","volume":"46","author":"Wu","year":"2016","journal-title":"IEEE Trans Cybern"},{"key":"10.1016\/j.cnsns.2026.110398_bib0025","doi-asserted-by":"crossref","DOI":"10.1016\/j.ins.2025.122519","article-title":"Robust sampled-data fuzzy consensus control for nonlinear multi-agent systems with parametric uncertainties","volume":"720","author":"Jang","year":"2025","journal-title":"Inf Sci"},{"key":"10.1016\/j.cnsns.2026.110398_bib0026","doi-asserted-by":"crossref","first-page":"763","DOI":"10.1016\/j.neunet.2023.09.003","article-title":"Sampled-data exponential consensus of multi-agent systems with lipschitz nonlinearities","volume":"167","author":"Zhao","year":"2023","journal-title":"Neural Netw"},{"key":"10.1016\/j.cnsns.2026.110398_bib0027","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1016\/j.arcontrol.2023.03.004","article-title":"Sampled-data control systems with non-uniform sampling: a survey of methods and trends","volume":"55","author":"Zhang","year":"2023","journal-title":"Annu Rev Control"},{"key":"10.1016\/j.cnsns.2026.110398_bib0028","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2023.107226","article-title":"Bipartite consensus tracking control for periodically-varying-delayed multi-agent systems with uncertain switching topologies","volume":"121","author":"Peng","year":"2023","journal-title":"Commun Nonlinear Sci Numer Simul"},{"key":"10.1016\/j.cnsns.2026.110398_bib0029","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2024.108580","article-title":"Heterogeneous consensus controller design for multi-agent saturated-input systems under switching topologies with partly unknown transition rates","volume":"142","author":"Lee","year":"2025","journal-title":"Commun Nonlinear Sci Numer Simul"},{"issue":"6","key":"10.1016\/j.cnsns.2026.110398_bib0030","doi-asserted-by":"crossref","first-page":"1670","DOI":"10.1109\/TAC.2015.2479113","article-title":"Sampled measurement output feedback control of multi-agent systems with jointly-connected topologies","volume":"61","author":"Chen","year":"2016","journal-title":"IEEE Trans Autom Control"},{"key":"10.1016\/j.cnsns.2026.110398_bib0031","doi-asserted-by":"crossref","first-page":"5369","DOI":"10.1002\/rnc.5087","article-title":"Sampled-data consensus of multiagent systems with switching jointly connected topologies via time-varying lyapunov function approach","volume":"30","author":"Sun","year":"2020","journal-title":"Int J Robust Nonlinear Control"},{"issue":"1","key":"10.1016\/j.cnsns.2026.110398_bib0032","doi-asserted-by":"crossref","first-page":"128","DOI":"10.1109\/TCYB.2020.2977720","article-title":"Sampled-data consensus of linear time-varying multiagent networks with time-varying topologies","volume":"52","author":"Zhang","year":"2022","journal-title":"IEEE Trans Cybern"},{"issue":"2","key":"10.1016\/j.cnsns.2026.110398_bib0033","doi-asserted-by":"crossref","DOI":"10.1007\/s11432-024-4391-2","article-title":"Asynchronous and aperiodic sampled-data control for general linear multiagent systems","volume":"69","author":"Zhang","year":"2026","journal-title":"Sci China Inf Sci"},{"key":"10.1016\/j.cnsns.2026.110398_bib0034","doi-asserted-by":"crossref","DOI":"10.1016\/j.ins.2023.119992","article-title":"Formation control for linear multi-agent systems with asynchronously sampled outputs","volume":"658","author":"He","year":"2024","journal-title":"Inf Sci"},{"issue":"8","key":"10.1016\/j.cnsns.2026.110398_bib0035","doi-asserted-by":"crossref","first-page":"3829","DOI":"10.1109\/TNNLS.2021.3054615","article-title":"Sampled-data synchronization of stochastic markovian jump neural networks with time-varying delay","volume":"33","author":"Chen","year":"2022","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"issue":"4","key":"10.1016\/j.cnsns.2026.110398_bib0036","doi-asserted-by":"crossref","first-page":"907","DOI":"10.1109\/TII.2015.2435692","article-title":"A stochastic sampling consensus protocol of networked Euler-Lagrange systems with application to two-link manipulator","volume":"11","author":"Zhao","year":"2015","journal-title":"IEEE Trans Ind Inf"},{"issue":"2","key":"10.1016\/j.cnsns.2026.110398_bib0037","doi-asserted-by":"crossref","first-page":"535","DOI":"10.1109\/TII.2017.2715843","article-title":"Consensus of networked euler-lagrange systems under time-varying sampled-data control","volume":"14","author":"Zhang","year":"2018","journal-title":"IEEE Trans Ind Inf"},{"issue":"3","key":"10.1016\/j.cnsns.2026.110398_bib0038","first-page":"691","article-title":"Robust adaptive control of a class of nonlinear systems and its application","volume":"57","author":"Xu","year":"2010","journal-title":"IEEE Trans Circuits Syst I"},{"issue":"6","key":"10.1016\/j.cnsns.2026.110398_bib0039","doi-asserted-by":"crossref","first-page":"461","DOI":"10.1016\/j.sysconle.2013.02.013","article-title":"Cooperative adaptive output regulation for a class of nonlinear uncertain multi-agent systems with unknown leader","volume":"62","author":"Su","year":"2013","journal-title":"Syst Control Lett"},{"key":"10.1016\/j.cnsns.2026.110398_bib0040","series-title":"Nonlinear output regulation: theory and applications","author":"Huang","year":"2004"},{"issue":"4","key":"10.1016\/j.cnsns.2026.110398_bib0041","doi-asserted-by":"crossref","first-page":"2771","DOI":"10.1109\/TSMC.2024.3523679","article-title":"Semi-global adaptive sampled-data formation control for a class of uncertain nonlinear multiagent systems","volume":"55","author":"He","year":"2025","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"key":"10.1016\/j.cnsns.2026.110398_bib0042","doi-asserted-by":"crossref","first-page":"864","DOI":"10.1109\/TSMCB.2011.2179981","article-title":"Cooperative output regulation with application to multi-agent consensus under switching network","volume":"42","author":"Su","year":"2012","journal-title":"IEEE Trans Syst Man Cybern B Cybern"},{"key":"10.1016\/j.cnsns.2026.110398_bib0043","series-title":"Nonlinear systems-third edition","author":"Khalil","year":"2002"},{"issue":"7","key":"10.1016\/j.cnsns.2026.110398_bib0044","doi-asserted-by":"crossref","first-page":"3215","DOI":"10.1109\/TAC.2019.2948256","article-title":"Leader-following consensus for linear multi-agent systems via asynchronous sampled-data control","volume":"65","author":"Liu","year":"2020","journal-title":"IEEE Trans Autom Control"},{"issue":"9","key":"10.1016\/j.cnsns.2026.110398_bib0045","doi-asserted-by":"crossref","first-page":"6159","DOI":"10.1109\/TAC.2025.3552745","article-title":"Asynchronous-based countermeasure for stealthy attack on aperiodic sampled-data control systems","volume":"70","author":"Chen","year":"2025","journal-title":"IEEE Trans Autom Control"},{"issue":"11","key":"10.1016\/j.cnsns.2026.110398_bib0046","doi-asserted-by":"crossref","first-page":"4570","DOI":"10.1109\/TCSI.2023.3295940","article-title":"Controller synthesis of aperiodic sampled-data networked control system with application to interleaved flyback module integrated converter","volume":"70","author":"Chen","year":"2023","journal-title":"IEEE Trans Circuits Syst I Regul Pap"},{"issue":"4","key":"10.1016\/j.cnsns.2026.110398_bib0047","doi-asserted-by":"crossref","first-page":"6739","DOI":"10.1109\/TII.2024.3353856","article-title":"Aperiodic sampled-data H\u221e control of vehicle active suspension system: an uncertain discrete-time model approach","volume":"20","author":"Chen","year":"2024","journal-title":"IEEE Trans Ind Inform"},{"key":"10.1016\/j.cnsns.2026.110398_bib0048","article-title":"Applications to the dynamics of the suspension system of fast finite time stability in probability of p-norm stochastic nonlinear systems","volume":"457","author":"Zhao","year":"2023","journal-title":"Appl Math Comput"},{"key":"10.1016\/j.cnsns.2026.110398_bib0049","doi-asserted-by":"crossref","first-page":"311","DOI":"10.1016\/j.nahs.2019.03.009","article-title":"Admissibility analysis and stabilization for neutral descriptor hybrid systems with time-varying delays","volume":"33","author":"Zhuang","year":"2019","journal-title":"Nonlinear Anal Hybrid Syst"},{"key":"10.1016\/j.cnsns.2026.110398_bib0050","series-title":"Stabilization and regulation of nonlinear systems: a robust and adaptive approach","author":"Chen","year":"2015"}],"container-title":["Communications in Nonlinear Science and Numerical Simulation"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S1007570426007525?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S1007570426007525?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,7,21]],"date-time":"2026-07-21T23:37:03Z","timestamp":1784677023000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S1007570426007525"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,11]]},"references-count":50,"alternative-id":["S1007570426007525"],"URL":"https:\/\/doi.org\/10.1016\/j.cnsns.2026.110398","relation":{},"ISSN":["1007-5704"],"issn-type":[{"value":"1007-5704","type":"print"}],"subject":[],"published":{"date-parts":[[2026,11]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Sampled-data cooperative output regulation for lower triangular nonlinear multi-agent systems under switching networks","name":"articletitle","label":"Article Title"},{"value":"Communications in Nonlinear Science and Numerical Simulation","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.cnsns.2026.110398","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"110398"}}