Consensus of Upper-Triangular Multiagent Systems With Sampled and Delayed Measurements via Output Feedback
研究了上三角非线性多智能体系统在采样和延迟输出测量下，通过输出反馈实现全局指数一致性的问题，给出了最大允许采样周期和传输延迟。
This paper investigates the sampled-delayed-databased consensus problem for upper-triangular multiagent nonlinear systems via output feedback. The sampled-delayed outputs are directly utilized to design observer-based piecewise continuous output feedback controllers. By properly constructing a Lyapunov-Krasovskii function, we obtain a parametric sequence and prove that it is convergent. Then, sufficient conditions are presented to guarantee the considered multiagent systems achieve global and exponential consensus. We also give the maximum admissible sampling period and transmission delay. Finally, simulation results show the validity and effectiveness of the newly proposed methods.