Leader-following consensus of second-order multi-agent systems with switching topology and partial aperiodic sampled data

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

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

This article focuses on the problem of leaderfollowing consensus of second-order Multi-Agent Systems (MAS) with switching topology and partial aperiodic sampled data. MAS are subject to various constraints related to information exchange among the agents. It is considered that each agent in the network is able to measure its position only and cannot measure either its velocity or acceleration (input). Moreover, the position information is sent to the neighbors at aperiodic and asynchronous sampling rates. At last, a switching communication topology among the agents is considered. An observer-based control protocol is proposed to achieve leader-following consensus for MAS with above mentioned constraints. Using an Average Dwell Time (ADT) approach, sufficient conditions are derived through Lyapunov-based stability analysis to ensure the leader-following consensus. Numerical examples are also included to show the effectiveness of the proposed scheme.

Mots clés: Average dwell time; Continuous-discrete time observer; Leader-follower consensus; Nonuniform and asynchronous sampling; Switching graphs

Domaines: Automatique; Système multi-agents [cs.MA]

Syed A Ajwad, Emmanuel Moulay, Michael Defoort, Tomas Menard, Patrick Coirault. Leader-following consensus of second-order multi-agent systems with switching topology and partial aperiodic sampled data. IEEE Control Systems Letters, 2021, 5 (5), pp.1567-1572. ⟨10.1109/LCSYS.2020.3041566⟩. ⟨hal-03086914⟩