title: Leader-follower H∞ consensus of linear multi-agent systems with aperiodic sampling and switching connected topologies.
abstract: This paper is concerned with the distributed H∞consensus of leader-follower multi-agent systems with aperiodic sampling interval and switching topologies. Under the assumption that the sampling period takes values from a given set, a new discrete-time model is proposed for the tracking error system. For the multi-agent systems with time-varying sampling period, switching topologies and external disturbance, the considered tracking problem is converted to a robust H∞control problem. With help of the Lyapunov stability theory, a sufficient condition for the existence of mode-dependent controller is established and it guarantees the exponential stability of tracking error system and a prescribed H∞disturbance attenuation level. The influence of sampling period on the overall control performance is also discussed. Two simulation examples are given to show the effectiveness of the proposed control algorithm.
authors.affiliation: Department of Automation, Zhejiang University of Technology, Hangzhou 310023, PR China; School of Automation, Hangzhou Dianzi University, Hangzhou 310018, PR China. Electronic address: danzhang@zjut.edu.cn.
authors.forename: Dan
authors.initials: D
authors.lastname: Zhang
authors.affiliation: Department of Automation, Zhejiang University of Technology, Hangzhou 310023, PR China.
authors.forename: Zhenhua
authors.initials: Z
authors.lastname: Xu
authors.affiliation: Institute for Intelligent Systems, The University of Johannesburg, Johannesburg, South Africa. Electronic address: wangq@uj.ac.za.
authors.forename: Qing-Guo
authors.initials: QG
authors.lastname: Wang
authors.affiliation: Department of Automation, Zhejiang University of Technology, Hangzhou 310023, PR China.
authors.forename: Yun-Bo
authors.initials: YB
authors.lastname: Zhao
keywords: Aperiodic sampling; Leader–follower consensus; Linear matrix inequality (LMI); Multi-agent systems; Switching topology