Stability of Sampled-data Systems with Uncertain Time-varying Delays and Its Application to Consensus Control of Multi-agent Systems

Yasutaka Hayashida 1 Laurentiu Hetel 2 Toshiki Oguchi 1 Jean-Pierre Richard 3
2 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : In this paper, we propose a new stability condition for sampled-data systems with uncertain time-varying delays less than a sampling interval. The derivation is based on the robustness of the corresponding discrete-time systems subject to perturbation caused by an uncertain time-varying delay. Then, we apply the proposed stability condition to a consensus control problem of two-wheeled robots. Numerical simulations and experiments show the validity and usefulness of the derived condition.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01690057
Contributor : Laurentiu Hetel <>
Submitted on : Monday, January 22, 2018 - 4:12:00 PM
Last modification on : Friday, March 22, 2019 - 1:34:15 AM

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Yasutaka Hayashida, Laurentiu Hetel, Toshiki Oguchi, Jean-Pierre Richard. Stability of Sampled-data Systems with Uncertain Time-varying Delays and Its Application to Consensus Control of Multi-agent Systems. IFAC 2017 - 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. IFAC-PapersOnLine, 50 (1), pp.1257-1262, 2017, 〈https://www.ifac2017.org/〉. 〈10.1016/j.ifacol.2017.08.351〉. 〈hal-01690057〉

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