Consensus Problem Of The Multi-agent Systems With Delayed Sampled-data

With the development of science and technology,multi-agent systems have become more and more widely used in practice,at the same time,it has been attracting the attention of a large numbers of scholars.Consensus problem refers to the interaction between adjacent agents in multi-agent systems through information interaction to update its own state,and eventually make the state of each agent in the system agree.This paper is based on the existing Lyapunov stability theory and algebraic graph theory and other mature related theories,mainly studying the consensus problem of leader-following and leaderless multi-agent system based on delayed sampled-data.First,under a directed topology,the consensus problem of leader-following and leaderless multi-agent systems based on delayed sampled-data is studied.In this chapter,we assume that the leader agent has no the control input,and assuming that the nonlinear dynamics of all the agents satisfy Lipschitz conditions.Then we use the output sampling and delay data to design a distributed output feedback controller.Based on the above controller,and using the state estimation errors of the agents to design an appropriate Lyapunov-Krasovskii functional and auxiliary integration function.By using the relevant inequality techniques,it is proved that the system considered in this chapter can achieve global exponential stability.Then,the containment control of multi-agent systems based on delayed sampled-data is investigated.In this chapter,the states of the agents in the system are assumed to be unmeasured.In consideration of the sampling transmission delay,the suitable sampling observer and controller are designed.The appropriate Lyapunov-Krasovskii functional and auxiliary integral function are designed by the containment control errors and state estimation errors of the agents,and with the help of M-matrix theory and Riccati inequality,the follower agents are finally reach to the convex hull formed by the leader agents.Finally,the Simulink tool in Matlab is used to perform simulation experiments on the given examples to verify the correctness and validity of the theory.