期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 65, 期 5, 页码 4145-4155出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2017.2772196
关键词
Aperiodic sampling; consensus; linear matrix inequality (LMI); multiagent systems; robust control; switched systems
资金
- National Natural Science Foundation of China [61403341]
- Hong Kong Scholars Program [XJ2016030]
This paper is concerned with the output-feedback controller design for consensus of a class of heterogeneous linear multiagent systems with the aperiodic sampled-data measurement. Under mild assumptions that the sampling periods are taken from a given set and the agent systems are time synchronized, an equivalent switched system model is first proposed for the heterogeneous agent system with nonuniform sampling. The overall leader-following tracking control problem (LFTCP) is then formulated as the output regulation of a discrete-time switched system. By using some algebraic manipulations, the control problem under consideration is further decoupled into two control subproblems, i.e., a static output-feedback (SOF) control problem plus a simple feedback control problem related to the communication topology. Based on the Lyapunov stability theory, some sufficient conditions are obtained for the solvability of LFTCP. In our results, the SOF controller gains are determined by solving some strict linear matrix inequalities. Finally, a simulation study on the modified Caltech multivehicle wireless testbed is presented to show the effectiveness of the proposed design method.
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