Second-Order Consensus for Multiagent Systems via Intermittent Sampled Data Control

Abstract

In this paper, a periodic intermittent sampled data control strategy, which both reduces the load of updating rate of the controller and cuts down the working time of the controller in each sampling interval, is proposed to investigate the second-order consensus of multiagent systems. In order to reach consensus, a necessary and sufficient condition depending on the coupling gains, the communication width, the sampling period, and the spectrum of the Laplacian matrix, is established. Furthermore, the feasible region of communication width is derived for given coupling gains and structure of network. Besides, the coupling gains are also carefully designed. On the other hand, when the time delay exists in the sampling process, a time delayed protocol is proposed. A necessary and sufficient condition based on the communication width, the sampling period, the coupling gains, the time delay, and the network structure is also derived for achieving consensus. It is amazing found that the sampling period should have both lower and upper bounds for given time delay and communication width for the sake of reaching consensus. Finally, several numerical simulations are presented to demonstrate the effectiveness of the theoretical results.

Adaptive output stationary average consensus for heterogeneous unknown linear multi‐agent systems

“…With respect to (17) and (18), and after some algebraic manipulation, the differential equation of errors can be written as…”

“…Primary works studied consensus for first-and second-order dynamics [11,[14][15][16][17] and then the results were extended to agents with high-order dynamics [18,19]. In [11], necessary conditions for average consensus was studied in the framework of first-order integrator dynamics.…”

“…For agents with the double-integrator dynamics, consensus protocols were studied in [16]. In [17], a periodic intermittent sampled data control strategy was adopted to investigate the second-order consensus of MASs. In [18], the average consensus problem for high-order integrator agents with fixed undirected networks was considered.…”

Delay-Induced Containment Control of Second-Order Multi-Agent Systems With Intermittent Sampled Position Data

“…Remark 1: Note that observer-based (filter-based) control and sampled data control strategies [29]- [35] overcome the shortage that the sensors have difficulty in obtaining accurate velocity information in reality, while they need the controller to work under continuous communication. Although the intermittent sampled data control strategy [36] solves the second-order consensus problem under intermittent communication, the controllers need to use both relative position and relative velocity measurements. However, the intermittent communication and the inaccurate velocity measurement are usually inevitable in reality.…”

“…In [35], the sampled-data leader-following consensus of second-order nonlinear multi-agent systems without velocity measurements was investigated. Under intermittent communication, the second-order consensus for multi-agent systems was solved via sampled data control [36]. In reality, the intermittent communication and the inaccurate velocity measurement are usually inevitable.…”