Distributed Tracking in Heterogeneous Networks With Asynchronous Sampled-Data Control

This article investigates distributed coordinated tracking problems of networked heterogeneous systems. Based on asynchronous sampling information, distributed sampled-data protocols are employed to realize leader-following synchronization and containment tracking in networked heterogeneous systems. In asynchronous sampled-data protocols, each node has different sampling instants with other nodes and only samples itself information at its own sampling instants. By utilizing the input-delay approach and Lyapunove-Krasovskii functional approach, some sufficient conditions for guaranteeing the coordinated tracking are presented. First, quasi-synchronization criteria are obtained for networked heterogeneous oscillator systems with a dynamic leader over the directed graph. Second, in the presence of multiple heterogeneous leaders for networked heterogeneous systems, sufficient conditions of quasi-containment tracking are derived. In a word, all followers can converge into a bounded level of convex hull spanned by the leader(s). The upper bounds of tracking errors are estimated for both quasi-synchronization and quasi-containment tracking. Finally, two numerical examples are given to verify the theoretical results.