Leader-following consensus for upper-triangular multi-agent systems via sampled and delayed output feedback

Abstract

In this paper, the leader-following consensus problem is investigated for upper-triangular nonlinear MASs (multiagent systems) via sampled and delayed output feedback. The sampled outputs transmitted through the communication channels are used to constructed the output feedback controllers directly. Then, the output feedback control signals transmitted through the other communication channels are used to update the MASs. Two kinds of transmission delays, i.e., transmission delays from the MASs to the output feedback controllers and transmission delays from the output feedback controllers to the MASs, make the MASs and the output feedback controllers to be updated at different time instants. A method of interval decomposition is proposed such that the MASs and the output feedback controllers are updated at the same interval. Then, sufficient conditions are presented to ensure the MASs reach leader-following consensus. At last, an example is provided to verify efficiency of the proposed methods.

Leader-following consensus for high-order stochastic multi-agent systems via dynamic output feedback control

“…Thus the output feedback consensus is more realistic than state feedback consensus in practical scenario. Recently, the output feedback consensus problem has been studied for high-order linear MASs (Gao et al, 2015;Han et al, 2018) and nonlinear MASs (Li et al, 2018), respectively. However, all state variables of the observer for each agent in pre-mentioned literatures need to be transmitted to it's neighbors, which makes that its' quantities of transmitted information is the same as that in state feedback case.…”

“…We design a novel dynamic consensus protocol requiring only neighboring agents' output information to be transmitted, and the observer state information is not needed to be transmitted. Compared to exiting methods in Gao et al (2015); Han et al (2018); Li et al (2018), less information is transmitted and the communication bandwidth is saved. (iii) A simple control design method is proposed.…”

Prescribed-time leader-following consensus and containment control for second-order multiagent systems with only position measurements

“…Zhang et al (2014) focused on the finite-time consensus/containment control problems of SOMASs without speed measurements, and constrained control strategies with finite-time observers were proposed in this literature. A sampled and output-feedback control scheme was proposed for tracking problems of nonlinear upper-triangular leader-follower MASs with transmission delays by Li et al (2017). It is necessary to point out that although the above-mentioned observer-based control protocols do not rely on velocity information, each follower needs to obtain values of the observers embedded in its neighbor agents.…”

“…Different from the control protocols proposed by Li et al (2012), Hu and Zheng (2014), Zhang et al (2014), Li et al (2017), and Lin et al (2021), in this work, the controller designed for each follower agent only relies on its own observer, while the values of the embedded observers from its neighbor agents are not required.…”