Leader-Following Consensus for Double-Integrator Multi-Agent Systems via Sampled Output Feedback

摘要

In this paper, the sampled-data leader-following consensus problem is considered for a group of double-integrator multi-agent systems. It is assumed in this problem that measurement output is only available at sampling instants, and the value of the control input only updates at those sampling instants. To solve this problem, a sampled-data output feedback control based on distributed continuous-discrete observer is proposed. This new algorithm has the performance that the sampling period can be freely chosen. We then show the asymptotic stability of the equivalent discrete-time system transformed from sampled-data closed-loop system. A simulation example is provided to illustrate the validity of the theoretical result.