Semi-Global Leader-Following Consensus for Second-Order Nonlinear Multi-Agent Systems via Asynchronous Sampled-Data Control
Quangui He, Wei Liu · 2022 IEEE International Conference on Unmanned Systems (ICUS) · 2022
The sampled-data leader-following consensus problem for a class of uncertain second-order nonlinear multi-agent systems is investigated in this article, where the region of attraction is semi-global. The system model contains the parameter uncertainties. In such a scenario, we construct a distributed state feedback control law by using asynchronously sampled data. Based on rigorous stability analysis of the closed-loop system, a maximum allowable value of sampling periods is given to guarantee the exact consensus.