© The Institution of Engineering and Technology
In this study, the event-triggered average consensus control for discrete-time multi-agent systems (MASs) is investigated. Based on a Lyapunov function, a sufficient condition is derived to give an event condition, which is designed based on the measurement error and the disagreement vector. The sufficient condition, described in terms of a linear matrix inequality (LMI), is easily solved by available LMI toolbox. Under this event condition, the event-triggered MAS reaches average consensus. Furthermore, the results are extended to the self-triggered consensus control, where the next task release time can be decided depending on the current sampled data. In addition, a certain restriction on the event condition is proposed in order to avoid Zeno-behaviour. Finally, two simulation examples illustrate the effectiveness of the theoretical results.
References
-
-
1)
-
P. Lin ,
Z. Li ,
Y. Jia ,
M. Sun
.
High-order multi-agent consensus with dynamically changing topologies and time-delays.
IET Control Theory Appl.
,
8 ,
976 -
981
-
2)
-
Dimarogonas, D., Johansson, K.: `Event-triggered cooperative control', Proc. European Control Conf., August 2009, Budapest, Hungary, p. 3015–3020.
-
3)
-
F. Xiao ,
L. Wang
.
Consensus problems for high-dimensional multi-agent systems.
IET Control Theory Appl.
,
3 ,
830 -
837
-
4)
-
D. Lehmann ,
J. Lunze
.
Extension, experimental evaluation of an event-based state-feedback approach.
Control Eng. Pract.
,
2 ,
101 -
112
-
5)
-
R. Horn ,
C. Johnson
.
(1985)
Matrix analysis.
-
6)
-
M. De La Sen
.
A method for improving the adaptation transient using adaptive sampling.
Int. J. Control
,
4 ,
639 -
665
-
7)
-
M. Miskowicz
.
Asymptotic effectiveness of the event-based sampling according to the integral criterion.
Sensors
,
1 ,
16 -
37
-
8)
-
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
-
9)
-
la Sen De ,
A. Ibeas
.
On the stability properties of linear dynamic time-varying unforced systems involving switches between parameterizations from topologic considerations via graph theory.
Discrete Appl. Math.
,
1 ,
7 -
25
-
10)
-
Seyboth, G.: `Event-based control for multi-agent systems', 2010, Diploma, KTH Royal Institute of Technology, Sweden.
-
11)
-
Eqtami, A., Dimarogonas, D., Kyriakopoulos, K.: `Event-triggered control for discrete-time systems', Proc. American Control Conf. and Maryland, 2010, Maryland, USA, p. 4719–4724.
-
12)
-
Fang, L., Panos, J.A.: `Information consensus of asynchronous discrete-time multi-agent systems', In Proc. American Control Conf., June 2005, Oregon, USA, p. 1883–1888.
-
13)
-
Li, Z., Duan, Z., Huang, L.: `Leader-follower consensus of multi-agent systems', In Proc. American Control Conf., June 2009, St. Louis, MO, USA, p. 3256–3261.
-
14)
-
R. Dorf ,
M. Farren ,
C. Phillips
.
Adaptive sampling frequency for sampled-data control systems.
IRE Trans. Autom. Control
,
1 ,
38 -
47
-
15)
-
X. Wang ,
M. Lemmon
.
Self-triggered feedback control systems with finite-gain L2 stability.
IEEE Trans. Autom. Control
,
3 ,
452 -
467
-
16)
-
Lemmon, M., Chantem, T., Hu, X.S., Zyskowski, M.: `On self-triggered full information H', Proc. 10th Int. Conf. on Hybrid Systems, 2007, p. 371–384.
-
17)
-
P. Lin ,
Y. Jia
.
Average consensus in networks of multi-agents with both switching topology and coupling time-delay.
Physica A
,
303 -
313
-
18)
-
Ren, W., Beard, R.W.: `Consensus of information under dynamically changing interaction topologies', In Proc. American Control Conf., June 2004, Boston, MA, p. 4939–4944.
-
19)
-
Jr Anta A. Mazo ,
P. Tabuada
.
An ISS self-triggered implementation of linear controllers.
Automatica
,
8 ,
1310 -
1314
-
20)
-
R. Olfati-Saber ,
Fax Alex ,
M.M. Richard
.
Consensus, cooperation in networked multi-agent systems.
IEEE Proc.
,
215 -
233
-
21)
-
Dimarogonas, D., Johansson, K.: `Event-triggered control for multi-agent systems', Proc. 48th IEEE Conf. on Decision, Control, December 2009, Shanghai, China, p. 7131–7136.
-
22)
-
M. Miskowicz
.
Efficiency of event-based sampling according to error energy criterion.
Sensors
,
3 ,
2242 -
2261
-
23)
-
T. Vicsek ,
A. Czirok ,
E. Ben-Jacob ,
I. Cohen ,
O. Shochet
.
Novel type of phase transition in a system of self-driven particles.
Phys. Rev. Lett.
,
1226 -
1229
-
24)
-
Velasco, M., Marti, P., Bini, E.: `Control-driven tasks: modeling, analysis', Proc. 29th IEEE Real Time Systems Symp., November 2008, Barcelona, Spain, p. 280–290.
-
25)
-
Liu, Z., Chen, Z.: `Event-triggered average-consensus for multi-agent systems', Proc. 29th Chinese Control Conf., July 2010, Beijing, China, p. 4506–4511.
-
26)
-
A. Jadbabaie ,
J. Lin ,
A.S. Morse
.
Coordination of groups of mobile autonomous agents using nearest neighbor rules.
IEEE Trans. Autom. Control
,
6 ,
988 -
1001
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2011.0535
Related content
content/journals/10.1049/iet-cta.2011.0535
pub_keyword,iet_inspecKeyword,pub_concept
6
6