Synchronization for non-uniform sampling networked rigid bodies

Abstract

This paper investigates the synchronization problem of multiple rigid bodies under directed communication topology. Unlike the existing designs relying on continuous-time information exchanges, a novel sampled-data networking strategy is introduced, which is more reliable and practical in realistic communication networks. Specifically, we focus on the analysis of continuous-time rigid body dynamics with non-uniform discrete-time information exchanges in the communication network. In particular, the sampling period is assumed to be time-varying and governed by a Markov chain. Furthermore, the relative angular velocity information between neighbouring rigid bodies is not required, such that the communication network burden can be further reduced. Another important and distinct feature of our synchronization scheme is that the communication energy consumption can be effectively decreased, since the communication network is utilized more efficiently. Based on model transformation and stochastic stability analysis, sufficient conditions are established to guarantee that the synchronization can be achieved. Finally, a numerical example is provided to show the effectiveness and benefits of our proposed results.