Design of Consensus Controllers for Multi-rate Sampled-data Strict-Feedback Multi-agent Systems

Design of state feedback consensus controllers is considered for multi-rate sampled-data strict-feedback multi-agent systems. First state feedback consensus controllers are designed for continuous-time strict-feedback multi-agent systems. Then the Euler model is used to estimate the states at input sampling times between successive measurement sampling times. It is shown that emulation controllers of designed continuous-time state feedback controllers with estimated states achieve consensus for multi-rate sampled-data strict-feedback multi-agent systems. The proposed design method is also applied to consensus control of multi-rate sampled-data fully-actuated ships.