SICE Journal of Control, Measurement, and System Integration
Online ISSN : 1884-9970
Print ISSN : 1882-4889
ISSN-L : 1882-4889
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Sampled-Data Consensus Control for Nonlinear Multi-Agent Systems of Strict-Feedback Form with Application to Marine Systems
Hitoshi KATAYAMA
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2011 Volume 4 Issue 6 Pages 417-422

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Abstract

Sampled-data consensus control for nonlinear multi-agent systems of strict-feedback form is considered. By using a change of state variables and an input transformation, the discrete-time double-integrator dynamics is derived from the Euler approximate model of each agent and discrete-time consensus control laws are designed. Then by applying the nonlinear sampled-data control theory, it is shown that the designed control laws achieve sampled-data consensus for nonlinear multi-agent systems in the continuous-time semiglobally practically uniformly asymptotically stable (SPUAS) sense. As an application of the proposed design method, sampled-data consensus control for fully-actuated ships is considered.

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© 2011 The Society of Instrument and Control Engineers
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