2020/07/02 by Tomas Ménard, Menard, Tomas, Ali Syed +7
Computer Science · Medicine · #Distributed Control Multi-Agent Systems #Dynamical Systems (math.DS) #FOS: Mathematics #Mathematical and Theoretical Epidemiology and Ecology Models #Neural Networks Stability and Synchronization #Optimization and Control (math.OC)
paper · pdf · doi:10.48550/arxiv.2007.00921
openalex publication_date 2020/07/02 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper is concerned with the leader-following consensus problem for a class of Lipschitz nonlinear multi-agent systems with uncertain dynamics, where each agent only transmits its noisy output, at discrete instants and independently from its neighbors. The proposed consensus protocol is based on a continuous-discrete time observer, which provides a continuous time estimation of the state of the neighbors from their discrete-time output measurements, together with a continuous control law. The stability of the multi-agent system is analyzed with a Lyapunov approach and the exponential practical convergence is ensured provided that the tuning parameters and the maximum allowable sampling period satisfy some inequalities. The proposed protocol is simulated on a multi-agent system whose dynamics are ruled by a Chua's oscillator.