Sampled-Data-Based Distributed Output Feedback Leader–Following Consensus for Time-Delay Multiagent Systems

This article addresses the distributed output feedback leader-following consensus problem for high-order nonlinear multiagent systems (MASs) with time delays and disturbances under the directed network. Using sampled relative outputs to neighbors and the discrete control input, the continuous-discrete time compensator is constructed in each agent to compensate for the consensus errors, where the sampling time instants can be asynchronous and aperiodic without exceeding an explicit upper bound of sampling intervals. Based on the compensator, we propose a codesign algorithm for constructing the dynamic event-triggered protocol with a corresponding event-triggering mechanism, which is a combination of discrete-time control input, continuous dynamic variables of each agent's own compensator, and a given threshold. The proposed methods cannot only achieve consensus tracking under the effects of time delays in states and communications but also implement the discrete-time execution of measurement, communication, and control. Based on the novel lemmas, it is proved that the resulting closed-loop consensus error system is globally stable. Finally, a simulation is given to illustrate the effectiveness of proposed methods.