Sampled-Data Consensus Control for Nonlinear Multi-Agent Systems of Strict-Feedback Form with Application to Marine Systems

摘要

Sampled-data consensus control for nonlinear multi-agent systems of strict-feedback form is considered. By using a change of state variables and an input transformation, the discrete-time double-integrator dynamics is derived from the Euler approximate model of each agent and discrete-time consensus control laws are designed. Then by applying the nonlinear sampled-data control theory, it is shown that the designed control laws achieve sampled-data consensus for nonlinear multi-agent systems in the continuous-time semiglobally practically uniformly asymptotically stable (SPUAS) sense. As an application of the proposed design method, sampled-data consensus control for fully-actuated ships is considered.