Outlier-resistant observer-based [formula omitted]-consensus control for multi-Rate multi-agent systems

Abstract

The H∞-consensus control problem is studied for a class of multi-rate multi-agent systems based on the outlier-resistant observers. To reduce the measurement cost and save the bandwidth resource, the multi-rate strategy is introduced to regulate the sampling rates of each agent. Next, the outlier-resistant observer is constructed for each agent, where the specific saturation function is introduced to restrain the adverse effect from the possible outliers. Then, the distributed consensus controller is designed for each agent by utilizing the available information from its own observer and its neighboring agents. The aim of this paper is to design the gain parameters for each agent such that the resulting augmented system can achieve the asymptotic stability as well as the H∞ disturbance attenuation constraint when encountering the possible measurement outliers. The sufficient condition is derived to guarantee the existence of the gain parameters, which are calculated by solving a semi-positive definite problem. Finally, an illustrative simulation example is employed to validate the feasibility of the consensus control scheme.