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Containment control of double-integrator multi-agent systems with aperiodic sampling: A small-gain theorem based method

机译：具有非周期采样的双积分多智能体系统的遏制控制：基于小增益定理的方法

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摘要

In this paper, the containment control problem of continuous-time double-integrator multi-agent systems is investigated. An aperiodic sampled-data based protocol is induced by using neighboring information with uncertainly time-varying sampling intervals. With the obtained protocol and properties of Laplacian matrix, the containment control problem of continuous-time multi-agent systems is equivalently transformed into a stability problem of discrete-time systems. By fixing a sampling length in the given range, a time-invariant discrete-time system is obtained. Then the systems with variation of sampling intervals can be considered as uncertain systems of the time-invariant discrete-time system. By using small-gain theorem, sufficient conditions are obtained to guarantee stability of uncertain discrete-time systems. The theoretical results are illustrated by some simulations.
机译：本文研究了连续时间双积分多智能体系统的密闭控制问题。通过使用具有不确定的随时间变化的采样间隔的相邻信息，可以得出基于非周期性采样数据的协议。利用所获得的协议和拉普拉斯矩阵的性质，将连续时间多智能体系统的密闭控制问题等效地转化为离散时间系统的稳定性问题。通过将采样长度固定在给定范围内，可以获得时不变的离散时间系统。然后，具有采样间隔变化的系统可以被认为是时不变离散时间系统的不确定系统。通过使用小增益定理，可以获得足够的条件来保证不确定的离散时间系统的稳定性。通过一些仿真说明了理论结果。

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