Leader-following consensus for networked multi-teleoperator systems via stochastic sampled-data control

Abstract

In this paper, the leader-following consensus problem is investigated for a networked multi-teleoperator system (NMTS) under a stochastic sampled-data controller. By utilizing the input delay approach, the sampling period is transformed into a time-varying yet bounded delay. With the help of algebraic graph theory and probability theory, a new consensus protocol is designed. Subsequently, a sufficient condition for the leader-following consensus of NMTS is derived in the form of linear matrix inequality (LMI) by constructing an appropriate Lyapunov–Krasovskii functional and by utilizing some matrix and integral inequality techniques. Based on the derived condition, the design method of the desired sampled-data controller is also obtained in terms of the solution to LMI which can be checked effectively by using available software. In addition, the effectiveness of the obtained theoretical results is illustrated by a numerical example.