Scaled tracking consensus of nonuniform sampled multi-agent systems with external disturbances over switching topology
Hong Xia, Yuqin Xie · 2023
In this manuscript, we investigate a scaled tracking consensus problem of nonuniform second-order multi-agent systems(MASs) with external disturbances under switching topology, where the leader is moving with a constant speed and each follower can have its own sampling period. First, through the equivalent linear transformation, the original scaled leader-following consensus problem is able to be converted into a stability problem of systems, in which there exist negative elements in the iteration matrices. Secondly, we divide the iteration matrix of error system into two parts, and further utilize the graph knowledge and matrix theory, and obtain a sufficient condition of the scaled leader-following consensus. Finally, the effectiveness of the theoretical result is validated by two numerical examples.