针对存在采样时延的多智能体系统的采样控制问题,提出了一类基于领导-跟随模型的有界一致性跟踪协议.运用时延分解技术、增广矩阵方法和频域分析方法,得到了确保系统实现有界一致性跟踪的充要条件,系统的收敛性由网络拓扑结构、采样周期及采样时延等因素决定.通过数字仿真,进一步验证了所提出协议的有效性. Aiming at the sampling control problem of multi-agent system with sampling delay, a class of consensus tracking protocol based on leader-follow model is proposed. Using the delay decomposition technique, augmented matrix method and frequency domain analysis method, The necessary and sufficient conditions for the system to achieve the bounded consistency tracking are determined, and the convergence of the system is determined by the network topology, sampling period and sampling delay, etc. The validity of the proposed protocol is further verified by digital simulation.