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Prescribed-Time Output Consensus of Heterogeneous Multi-Agent Systems: A Hybrid Sampling Strategy
  • hongpeng Li,
  • Xinchun Jia,
  • Xiao-Bo Chi
hongpeng Li
Shanxi University
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Xinchun Jia
Shanxi University

Corresponding Author:xchjia@sxu.edu.cn

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Xiao-Bo Chi
Shanxi University
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Abstract

This paper investigates the prescribed-time output consensus (PTOC) of heterogeneous multi-agent systems (MASs) based on sampled data. Firstly, a novel dynamic compensator is designed for each agent and its state is used to interact with its neighbors. Then, a hybrid sampling strategy (HSS), including a dynamic event-triggered sampling (ETS) and a time-triggered sampling (TTS), is developed to determine when to sample and broadcast the compensator state of agents. The execution of the HSS is divided into two steps, a dynamic ETS is presented before the first prescribed-time (PT) where the dynamic threshold decays to zero as time approaches the first PT. Subsequently, a TTS with a constant sampling period (CSP) is introduced after the first PT. With the proposed HSS, all compensators achieve the state consensus at the first PT while excluding the Zeno behavior. Based on the proposed dynamic compensators and the HSS, a fully distributed controller with high scalability and flexibility is developed. Through the Lyapunov stability theory, it is proved that the heterogeneous MASs with the proposed controller achieve the output consensus at the second PT (after the first PT). Finally, a simulation example on 8-wheeled mobile robots is performed to verify the validity of the theoretical results.
11 Apr 2024Submitted to International Journal of Robust and Nonlinear Control
12 Apr 2024Submission Checks Completed
12 Apr 2024Assigned to Editor
12 Apr 2024Review(s) Completed, Editorial Evaluation Pending
28 Apr 2024Reviewer(s) Assigned
04 Aug 2024Editorial Decision: Revise Minor
27 Aug 20241st Revision Received
02 Sep 2024Submission Checks Completed
02 Sep 2024Assigned to Editor
02 Sep 2024Review(s) Completed, Editorial Evaluation Pending