Co‐designed sampled‐data output consensus for multi‐agent systems
Kecai Cao, Chunjiang Qian, Juping Gu, Liang Hua · International Journal of Robust and Nonlinear Control · 2021
Abstract Sampled‐data output consensus problem has been firstly considered within co‐design framework where control gains and sampling periods are incorporated together. In construction of co‐designed controllers, we firstly introduce a scaled coordinate transformation for the original system in the continuous‐time domain. Then design of sampled‐data controllers with absolute/relative damping and stability analysis of closed‐loop system have been conducted directly in discrete‐time domain. Main novelty of the co‐design method lies in that the sampling period can be arbitrarily large due to the compensation of control gains. Compared with previous work on sampled‐data consensus protocols, conservatism on allowable sampling periods has been greatly relaxed and more flexibility has been provided for digital implementation of the obtained sampled‐data controllers. Simulation studies with different sampling periods are also provided to illustrate the effectiveness of the co‐designed sampled‐data output controllers.