Cloud-Based Distributed Group Asynchronous Consensus for Switched Nonlinear Cyber-Physical Systems

In this article, we focus on the distributed group asynchronous consensus problem for cyber-physical systems (CPSs) with unknown dynamics and switching topologies. This article considers a class of networked distributed CPSs composed of cloud computing systems, and it is subjected to delay detection models and topology switching. First, an asynchronous switching observer is tailored for each group of agents to guarantee the precise acquisition of the leader's information. Further, we introduce a model-free adaptive control method to devise controllers for each group of agents, which can continue to learn adaptively only from the agent's input and output data without knowing the agent dynamics. Finally, the stability of both the observer and controller are proved, respectively. The observers' and controllers' effectiveness is further confirmed by the simulation results.