Journal
AUTOMATICA
Volume 121, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2020.109176
Keywords
Leader-following consensus; Directed graph; Sampled data; Continuous-discrete time observer
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This paper is concerned with the leader-following consensus problem for a class of Lipschitz nonlinear multi-agent systems with uncertain dynamics, where each agent only transmits its noisy output, at discrete instants and independently from its neighbors. The proposed consensus protocol is based on a continuous-discrete time observer, which provides a continuous time estimation of the state of the neighbors from their discrete-time output measurements, together with a continuous control law. The stability of the multi-agent system is analyzed with a Lyapunov approach and the exponential practical convergence is ensured provided that the tuning parameters and the maximum allowable sampling period satisfy some inequalities. The proposed protocol is simulated on a multi-agent system whose dynamics are ruled by a Chua's oscillator. (C) 2020 Elsevier Ltd. All rights reserved.
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