Asynchronous Resilient Output Consensus of Switched Heterogeneous Linear Multivehicle Systems with Communication Delay

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Original languageEnglish
Article number8793156
Pages (from-to)2627-2640
Journal / PublicationIEEE/ASME Transactions on Mechatronics
Issue number6
Online published9 Aug 2019
Publication statusPublished - Dec 2019


The resilient output consensus problem for a network of switched heterogeneous linear vehicle systems with asynchronous switching, controller gain variation, unknown disturbance, and communication delay is investigated. Based on the topology decoupling technique, the investigated problem is transformed into two subproblems: one is a robust asynchronous static output feedback (SOF) control problem and the other is an asynchronous SOF problem. Based on the piecewise Lyapunov functional method and the average dwell time switching scheme, some new sufficient conditions are proposed for the solutions to those subproblems. Moreover, some novel linear-matrix-inequality-based conditions are developed to calculate the SOF controller gains. A network of six vehicles is finally presented to show the effectiveness of the proposed resilient consensus controller.

Research Area(s)

  • Linear matrix inequalities (LMIs), multivehicle systems (MVSs), static output feedback (SOF) control communication delay, switched systems

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