Cooperative Output Regulation with Asynchronous Transmissions and Time-Varying Delays

This article revisits the sampled-data cooperative output regulation problem in a hybrid system framework. Due to the inevitable network-induced imperfections caused by communication among agents, we consider the problem under asynchronous transmissions and time-varying delays. A hybrid system model is introduced to incorporate the aforementioned communication imperfections and facilitate the analysis on internal stability and L_2 ( L_∞) performance of closed-loop systems. A novel Lyapunov functional candidate is proposed to establish the stability condition in terms of maximally allowable transmission intervals (MATIs) and maximally allowable delays (MADs). Compared with some existing results, the proposed Lyapunov functional candidate provides clearer physical significance. As a result, more straightforward computations and tradeoff designs on MATIs and MADs can be provided. Finally, numerical simulations are given to illustrate the efficiency and feasibility of the obtained results.