Sampled-Data Dynamic Output Feedback Consensus Control of Multi-Agent Systems

This paper investigates the consensus problem of multi-agent systems (MAS) with sampled-data dynamic output feedback (DOF) control. A distributed DOF control law is designed by utilizing sampled relative output information between neighboring agents, and the sampling period can be asynchronous. For the purpose of consensus analysis and appropriately choosing sampling period, a closed-loop system model with hybrid dynamics is constructed, which incorporates flow/jump dynamics and the sampling period. Based on this model, Lyapunov-based analysis is presented and stability conditions are formally developed. Compared with the existing works, observer design is not required and only sampled relative output information is used, and moreover, the maximum allowable sampling period (MASP) can be explicitly computed. Finally, illustrative examples are provided to demonstrate effectiveness of the proposed DOF control method.

Automated summary

This paper investigates the consensus problem in multi-agent systems using sampled-data dynamic output feedback control. A distributed control law is designed based on sampled relative output information between neighboring agents. A closed-loop system model with hybrid dynamics is constructed for consensus analysis and choice of sampling period. Lyapunov-based analysis is presented to develop stability conditions. Compared to existing works, observer design is not required, and only sampled relative output information is used, with the ability to explicitly compute the maximum allowable sampling period.