Consensus of Upper-Triangular Multiagent Systems With Sampled and Delayed Measurements via Output Feedback

This paper investigates the sampled-delayed-data-based consensus problem for upper-triangular multiagent nonlinear systems via output feedback. The sampled-delayed outputs are directly utilized to design observer-based piecewise continuous output feedback controllers. By properly constructing a Lyapunov–Krasovskii function, we obtain a parametric sequence and prove that it is convergent. Then, sufficient conditions are presented to guarantee the considered multiagent systems achieve global and exponential consensus. We also give the maximum admissible sampling period and transmission delay. Finally, simulation results show the validity and effectiveness of the newly proposed methods.