Sampled-Data Leaderless and Leader-Following Consensus of Multiagent Systems Under Nonidentical Packet Losses
Guanglei Zhao, Changchun Hua
Abstract
In this work, the leaderless and leader-following consensus problems are investigated for multiagent systems (MAS) with asynchronous sampling mechanism and nonidentical packet losses. First, distributed sampled-data control protocols are proposed based on estimators, the estimator's state is updated according to whether packet losses occur in certain communication channel. Then, by defining appropriate consensus error variables and by means of internal auxiliary variables, a unified hybrid model consisting of flow dynamics and jump dynamics is constructed for both leaderless and leader-following MAS, such that leaderless and leader-following consensus of MAS can be dealt with in a unified framework. Based on this model, a hybrid system approach is proposed for stability analysis and linear matrix inequality based stability conditions are derived. The interaction relationship among sampling period, the number of successive packet losses, and design parameters is explicitly characterized. The effectiveness of the proposed method is illustrated via numerical simulation.