Limited Time Consensus Control of Multi-robot System Based on Sampled Data

In order to solve the consensus problem in the logistics multi-robot system, a logistics multi-robot system control protocol is designed. To Lyapunov theory and graph theory as the main research tool, trigger control strategy based on the use of sampling data limit event, the working mechanism of the policy more in line with the actual system. Based on the sampled data, a finite time self-trigger control strategy is further proposed. Based on this strategy, the event trigger function of periodic monitoring can be avoided, and the mechanism based on sampled data can fundamentally avoid the Zeno phenomenon. Finally, the validity of the theoretical results is verified by numerical simulation.