© The Institution of Engineering and Technology
Event-triggered strategies are effective to update local controllers in multi-agent systems (MASs) at necessary discrete times. Based on graph theoretical reasoning, the authors study the distributed event-triggered output consensus in MASs with time-varying couplings. Graph theoretical reasoning provides us a Lyapunov function that fully utilises the properties of a graph such as the path between two arbitrary agents. With this function, the updating of local output-feedback controllers is determined by connection-graph-based state-dependent or time-dependent event functions. Interesting enough, the proposed event-triggered schemes can also be effectively extended to non-linear MASs with time-varying couplings. Theoretical analysis and numerical simulations verify the main results.
References
-
-
1)
-
13. Lemmon, M.: ‘Event-triggered feedback in control, estimation, and optimization’ in Thoma, M., Allgöwer, F., Morari, M. (Eds): Networked Control Systems (Springer, London, 2010).
-
2)
-
25. Guinaldo, M., Dimarogonas, D.V., Johansson, K.H., Sanchez, J., Dormido, S.: ‘Distributed event-based control strategies for interconnected linear systems’, IET Control Theory Appl., 2013, 7, (6), pp. 877–886 (doi: 10.1049/iet-cta.2012.0525).
-
3)
-
11. Anta, A., Tabuada, P.: ‘To sample or not to sample: self-triggered control for nonlinear systems’, IEEE Trans. Autom. Control, 2010, 55, (9), pp. 2030–2042 (doi: 10.1109/TAC.2010.2042980).
-
4)
-
R. Olfati-Saber ,
R.M. Murray
.
Consensus problems in networks of agents with switching topology and time-delays.
IEEE Trans. Autom. Control
,
9 ,
1520 -
1533
-
5)
-
16. Meng, X., Chen, T.: ‘Optimal sampling and performance comparison of periodic and event based impulse control’, IEEE Trans. Autom. Control, 2012, 57, (12), pp. 3252–3259 (doi: 10.1109/TAC.2012.2200381).
-
6)
-
W. Ren
.
On consensus algorithms for double-integrator dynamics.
IEEE Trans. Autom. Control
,
6 ,
1503 -
1509
-
7)
-
9. Heemels, W.P.M.H., Sandee, J.H., Van Den Bosch, P.P.H.: ‘Analysis of event-driven controllers for linear systems’, Int. J. Control, 2008, 81, (4), 571–590 (doi: 10.1080/00207170701506919).
-
8)
-
11. Seyboth, G., Dimarogonas, D., Johansson, K.: ‘Event-based broadcasting for multi-agent average consensus’, Automatica, 2013, 49, (1), pp. 245–252 (doi: 10.1016/j.automatica.2012.08.042).
-
9)
-
17. Dimarogonas, D.V., Johansson, K.H.: ‘Event-triggered control for multi-agent systems’. Proc. 48th IEEE Conf. Decis. Control, Shanghai, China, December 2009, pp. 7131–7136.
-
10)
-
W. Ren
.
Consensus strategies for cooperative control of vehicle formations.
IET Control Theory Appl.
,
2 ,
505 -
512
-
11)
-
15. Astrom, K.J., Bernhardsson, B.M.: ‘Comparison of riemann and lebesgue sampling for first-order stochastic systems’. Proc. 41st IEEE Conf. Decis. Control, Las Vegas, USA, December 2002, pp. 2011–2016.
-
12)
-
4. Olfati-Saber, R., Shamma, J.S.: ‘Consensus filters for sensor networks and distributed sensor fusion’. Proc. 44th IEEE Conf. Decis. Control, Seville, Spain, December 2005, pp. 6698–6703.
-
13)
-
24. Godsil, C., and Royle, G.: ‘Algebraic graph theory’ (Springer-Verlag, New York, 2001).
-
14)
-
Y. Zhang ,
Y. Tian
.
Consensus of data-sampled multi-agent systems with random communication delay and packet loss.
IEEE Trans. Autom. Control
,
4 ,
939 -
943
-
15)
-
27. Garcia, E., Antsaklis, P.J.: ‘Model-based event-triggered control for systems with quantization and time-varying network delays’, IEEE Trans. Autom. Control, 2013, 58, (2), pp. 422–434 (doi: 10.1109/TAC.2012.2211411).
-
16)
-
10. Dimarogonas, D., Frazzoli, E., Johansson, K.: ‘Distributed event-triggered control for multi-agent systems’, IEEE Trans. Autom. Control, 2012, 57, (5), pp. 1291–1297 (doi: 10.1109/TAC.2011.2174666).
-
17)
-
20. Shi, G.D., Johansson, K.H.: ‘Multi-agent robust consensus – Part 2: application to distributed event-triggered coordination’. Proc. 50th IEEE Conf. Decis. Control, Orlando, USA, December 2011, pp. 5738–5743.
-
18)
-
F. Xiao ,
L. Wang
.
Asynchronous consensus in continuous-time multi-agent systems with switching topology and time-varying delays.
IEEE Trans. Autom. Control
,
8 ,
1804 -
1816
-
19)
-
2. Toner, J., Tu, Y.: ‘Flocks, herds, and schools: a quantitative theory of flocking’, Phys. Rev. E, 1998, 58, (4), pp. 4828–4858 (doi: 10.1103/PhysRevE.58.4828).
-
20)
-
W. Ren ,
R.W. Beard
.
Consensus seeking in multiagent systems under dynamically changing interaction topologies.
IEEE Trans. Autom. Control
,
5 ,
655 -
661
-
21)
-
Z. Lin ,
M. Broucke ,
B. Francis
.
Local control strategies for groups of mobile autonomous agents.
IEEE Trans. Autom. Control
,
4 ,
622 -
629
-
22)
-
26. Shi, G.D., Johansson, K.H.: ‘Multi-agent robust consensus – Part 1: convergence analysis’. Proc. 50th IEEE Conf. Decis. Control, Orlando, USA, December 2011, pp. 5744–5749.
-
23)
-
K.H. Johansson ,
M. Egerstedt ,
J. Lygeros ,
S. Sastry
.
On the regulation of Zeno hybrid automata.
Syst. Control Lett.
,
141 -
150
-
24)
-
18. Fan, Y., Feng, G., Wang, Y., Song, C.: ‘Distributed event-triggered control of multi-agent systems with combinational measurements’, Automatica, 2013, 49, (2), pp. 671–675 (doi: 10.1016/j.automatica.2012.11.010).
-
25)
-
14. Heemels, W., Johansson, K.H., Tabuada, P.: ‘An introduction to event-triggered and self-triggered control’. Proc. 51st IEEE Annual Conf. Decis. Control, Hawaii, USA, December 2012, pp. 3270–3285.
-
26)
-
13. Belykh, V.N., Belykh, I.V., Hasler, M.: ‘Connection graph stability method for synchronized coupled chaotic systems’, Phys. D, 2004, 195, pp. 159–187 (doi: 10.1016/j.physd.2004.03.012).
-
27)
-
19. Meng, X., Chen, T.: ‘Event based agreement protocols for multi-agent networks’, Automatica, 2013, 49, (7), pp. 2125–2132 (doi: 10.1016/j.automatica.2013.03.002).
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2013.1117
Related content
content/journals/10.1049/iet-cta.2013.1117
pub_keyword,iet_inspecKeyword,pub_concept
6
6