|Modified Leader-Following Consensus of Time-delay Multi-agent Systems via Sampled Control and Smart Leader
Zhengguang Ma, Zhongxin Liu*, and Zengqiang Chen
International Journal of Control, Automation, and Systems, vol. 15, no. 6, pp.2526-2537, 2017
Abstract : "In this paper, the consensus problems of multiple agents with continuous-time single-integrator dynamics
are studied, where each agent can obtain the position data of its neighboring agents at discrete-time points by using
the periodic sampling technology and zero-order hold circuit. The smart leader is introduced, which can adjust the
interaction strength between itself and the target point according to the state errors between itself and its neighboring
followers. The modified leader-following consensus problem is defined as the leader-following consensus problem
when the smart leader is adopted. Different leader-following consensus protocols are obtained for the multi-agent
systems with or without sampling delays. The theoretical results, which are analysed with Lyapunov stability theory,
can decrease the tracking error of the system, especially for the multi-agent systems with disturbance generated by
actuator faults. Some simulation examples and real experiments are presented for illustration."
"Linear parameter varying (LPV) system, modified leader-following consensus, multi-agent systems (MASs), sampled-data, smart leader, time-delay."