Sampled-Data Output Feedback Leader-Following Scaled Consensus for Uncertain Nonlinear Multiagent Systems With Communication Delays and Noises
Yanjie Chang, Chunshui Du, Qingrong Liu, Xianfu Zhang
Abstract
Communication delays and noises are common in practical problems. When they exist in the nonlinear multiagent system, this article addresses the leader-following scaled consensus problem. In the concerned system, nonlinearities can contain uncertainty and essential time-varying characteristic, and the output information is only available at sampling instants. In this article, we propose a class of time-varying gains to design the delay-dependent observer and control protocol, where a newly defined variable is used to cope with unknown noises. Under the output feedback control protocol, followers can asymptotically track the leader by assigned ratios. Different from existing works, the sampling period, communication delays, and noises are not restricted to a fixed upper bound. Two simulation examples are eventually presented to show the effectiveness of the proposed control protocol. Some future works can extend to general nonlinear systems with communication noises, and different time-varying delays.