Adaptive Consensus Control of Networked Lagrangian Systems with Input Hysteresis Quantization and Asynchronous Sampled-Data Communication

The consensus of a group of Lagrangian multi-agent systems with quantized inputs and time-varying gain is studied in our paper. At the mean time, the input disturbance problem is fully considered. It is assumed that both the external disturbance and the control gain signal are bounded in our research. In addition, considering that each system needs to communicate with its neighbors to update its control law, and the communication data is limited by the bandwidth and other physical factors. In order to solve this problem, a multi-agent consensus control law with communication sampling function is designed. Through the carefully designed control signal, each subsystem can achieve the final asymptotical consensus under the directed communication topology, and the rationality of the control law design process is verified by the simulation experiment at the end of the paper.