On Sampled–Data Leaderless Consensus Tracking of Nonlinear Multi–Agent Time–Delay Systems⁎This work is partially supported by the European Project ECSEL– JU RIA–2018 "Comp4Drones", and by the Project "Coordination of autonomous unmanned vehicles for highly complex performances", SAAP3. Issue 18 (2021)

• Record Type: Journal Article
• Authors: Ferdinando, M. Di; Pepe, P.; Gennaro, S. Di
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 18(2021)
• Page Start: 192
• Page End: 197
• Publication Date: 2021
• Subjects: Nonlinear Multi-Agent Time-Delay Systems -- Leaderless Consensus -- Tracking -- Semi-Global Practical Stability -- Control Lyapunov-Krasovskii Functionals; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.11.138
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper deals with the sampled-data leaderless consensus tracking problem of nonlinear time-delay multi-agent systems (MASs) over strongly directed networks. In particular, a new methodology for the design of sampled-data 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 exists a suitably small maximum inter-sampling time such that the digital implementation of SDCFs (continuous or not) achieves the leaderless consensus tracking in a semi-global practical sense of the related sampled-data closed-loop MAS. The stabilization in the sample-and-hold sense theory is used as a tool for proving the results. 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.