Distributed tracking control of second-order multi-agent systems with sampled data |
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| Authors: | Guang-Hui Xu Zhi-Hong Guan Ding-Xin He Ming Chi Yong-Hong Wu |
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| Institution: | 1. College of Automation, Huazhong University of Science and Technology, Wuhan 430074, PR China;2. Key Laboratory of Image Information Processing and Intelligent Control (Huazhong University of Science and Technology), Ministry of Education, Wuhan 430074, PR China;3. School of Science, Wuhan University of Technology, Wuhan 430070, PR China |
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| Abstract: | This paper studies the leader–follower consensus problem of second-order multi-agent dynamical systems with fixed and stochastic switching topologies in a sampled-data setting. A distributed linear consensus protocol is designed to track an active leader, where the current position information of neighbor agents and self-velocity data are utilized. A necessary and sufficient condition is established under fixed and directed topology for reaching consensus, which depends on the sampling period and control gain parameters. A sufficient condition is obtained under the Markov switching topology case. Finally, some numerical simulations are provided to verify the effectiveness of the theoretical results. |
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