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access icon free Consensus of discrete-time linear multi-agent systems with event-based dynamic feedback scheme

  • Author(s): Wei Zhu 1, 2 ; Huizhu Pu 2 ; Qiuxuan Wu 1
    • View affiliations
  • Source: Volume 11, Issue 15, 13 October 2017, p. 2567 – 2572
    DOI:  10.1049/iet-cta.2017.0091 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Received 14/02/2017, Accepted 03/07/2017, Revised 02/06/2017, Published 04/07/2017

The consensus problem of discrete time multi-agent systems with linear dynamic models is investigated. To reduce the controller update times and communication among agents, an event-based dynamic feedback scheme is proposed. For each agent, the controller update instants are determined by a state-dependent threshold. It is shown that the controller update for each agent is only dependent on its own event times. Some sufficient conditions are obtained for consensus. Observing the current states of its neighbour agents as well as its own state at every discrete-time is also avoided. Furthermore, certain conditions are given to exclude the Zeno-like behaviour of the triggering time sequence. Finally, a numerical example is given to illustrate the efficiency of the proposed control strategy.

Inspec keywords: feedback; discrete time systems; linear systems; multi-robot systems; robot dynamics

Other keywords: state-dependent threshold; triggering time sequence; Zeno-like behaviour; controller update instants; controller update time reduction; linear dynamic models; neighbour agents; event-based dynamic feedback scheme; discrete-time linear multiagent system consensus

Subjects: Linear control systems; Robot and manipulator mechanics; Discrete control systems; Robotics

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