Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs (long version)

Tomas Menard (1) , Ali Syed (2, 3) , Emmanuel Moulay (4) , Patrick Coirault (2, 3) , Michael Defoort (5)

1 LAC - Laboratoire d'automatique de Caen
2 LIAS [Poitiers] - Laboratoire d'informatique et d'automatique pour les systèmes [EA 6315]
3 A&S - Automatique et Systèmes
4 XLIM - XLIM
5 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This paper is concerned with the leader-following consensus problem for a class of Lipschitz nonlinear multi-agent systems with uncertain dynamics, where each agent only transmits its noisy output, at discrete instants and independently from its neighbors. The proposed consensus protocol is based on a continuous-discrete time observer, which provides a continuous time estimation of the state of the neighbors from their discrete-time output measurements, together with a continuous control law. The stability of the multi-agent system is analyzed with a Lyapunov approach and the exponential practical convergence is ensured provided that the tuning parameters and the maximum allowable sampling period satisfy some inequalities. The proposed protocol is simulated on a multi-agent system whose dynamics are ruled by a Chua's oscillator.

Mots clés: Leader-following consensus; Directed graph; Sampled data; continuous-discrete time observer

Domaines: Automatique / Robotique; Systèmes dynamiques [math.DS]

Tomas Menard, Ali Syed, Emmanuel Moulay, Patrick Coirault, Michael Defoort. Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs (long version). 2020. ⟨hal-02886087⟩