Stability of Sampled-data Systems with Uncertain Time-varying Delays and Its Application to Consensus Control of Multi-agent Systems

被引：3
作者：
Hayashida, Yasutaka [1 ]
Hetel, Laurentiu [2 ]
Oguchi, Toshiki [1 ]
Richard, Jean-Pierre [2 ,3 ]
机构：
[1] Tokyo Metropolitan Univ, Grad Sch Sci & Engn, Dept Mech Engn, Tokyo 1920397, Japan
[2] Univ Lille 1, Ecole Cent Lille, Ctr Rech Informat Signal & Automat Lille CRIStAL, CNRS,UMR 9189, F-59650 Villeneuve Dascq, France
[3] INRIA Lille Nord Europe, Non A, Lille, France
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
关键词：
Sampled-data control systems; Consensus control; Time-varying delay; Non-holonomic mobile robots; NETWORKED CONTROL-SYSTEMS; COOPERATION; TOPOLOGY;
D O I：
10.1016/j.ifacol.2017.08.351
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we propose a new stability condition for sampled-data systems with uncertain time-varying delays less than a sampling interval. The derivation is based on the robustness of the corresponding discrete-time systems subject to perturbation caused by an uncertain time-varying delay. Then, we apply the proposed stability condition to a consensus control problem of two-wheeled robots. Numerical simulations and experiments show the validity and usefulness of the derived condition. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：1257 / 1262
页数：6
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