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On quantized sampled–data event–triggered Consensus Tracking of Nonlinear Multi–Agent Time–Delay Systems

IFAC-PapersOnLine 2022年第36期55卷 276-281页

作者： M. Di Ferdinando P. Pepe S. Di Gennaro Department of Information Engineering Computer Science and Mathematics University of L'Aquila Via Vetoio Loc. Coppito 67100 L'Aquila Italy Center of Excellence for Research DEWS University of L'Aquila Via Vetoio Loc. Coppito 67100 L'Aquila Italy

In this paper, the quantized sampled-data leaderless consensus tracking problem of nonlinear time–delay multi–agent systems (MASs) is studied. In particular, a new methodology for the design of quantized sampled–data event–triggered controllers achieving the leaderless consensus tracking of nonlinear MASs affected by state–delays is proposed. Firstly, the notion of steepest descent consensus feedback (SDCF), induced by a general class of Lyapunov–Krasovskii functionals, is introduced. Then, it is proved that there exist a suitably accurate quantization of the input channels and a suitably small maximum inter–sampling time such that: the digital implementation of SDCFs (continuous or not), with an event-triggered mechanism to update the control law only when necessary, achieves the leaderless consensus tracking in a semi–global practical sense of the related closed–loop MAS. The stabilization in the sample-and-hold sense theory is used as a tool for proving the results. The possible non–uniform quantization of the input channels is considered. Moreover, the case of time–varying sampling intervals as well as the stability analysis of the inter–sampling system behaviour is included in the theory here developed. An example is studied in order to validate the results.

关键词： Nonlinear Multi–Agent Time–Delay Systems Leaderless Consensus Tracking quantized sampled–data event–triggered control control Lyapunov–Krasovskii Functionals

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