Abstract:
A decentralized controller that uses event-triggered communication scheduling is developed for the leader-follower consensus problem under fixed and switching communicati...Show MoreMetadata
Abstract:
A decentralized controller that uses event-triggered communication scheduling is developed for the leader-follower consensus problem under fixed and switching communication topologies. To eliminate continuous interagent communication, state estimates of neighboring agents are designed for control feedback and are updated via communication to reset growing estimate errors. The communication times are based on an event-triggered approach and are adapted based on the trade-off between the control system performance and the desire to minimize the amount of communication. An important aspect of the developed event trigger strategy is that communication is not required to determine when a state update is needed. Since the control strategy produces switched dynamics, analysis is provided to show that Zeno behavior is avoided by developing a positive constant lower bound on the minimum inter-event interval. A Lyapunov-based convergence analysis is also provided to indicate bounded convergence of the developed control methodology.
Published in: IEEE Transactions on Automatic Control ( Volume: 62, Issue: 10, October 2017)
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- IEEE Keywords
- Index Terms
- Network Topology ,
- Multi-agent Systems ,
- Fixed Network Topology ,
- Time-varying Network Topology ,
- Estimation Error ,
- Control Strategy ,
- Continuous Communication ,
- Performance Of Control System ,
- Decentralized Control ,
- Event-triggered Scheme ,
- Inter-event Intervals ,
- Leader-following Consensus ,
- Zeno Behavior ,
- Neighboring Agents ,
- Lower Bound ,
- Discrete-time ,
- Undirected ,
- Finite Set ,
- Gain Control ,
- True State ,
- Triggering Condition ,
- Development Section ,
- Switching Topologies ,
- Directed Graph ,
- State Of The Leader ,
- Positive Definite Matrix ,
- Switching Signal ,
- Tracking Error ,
- Laplacian Matrix ,
- Event-triggered Control Strategy
- Author Keywords
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Network Topology ,
- Multi-agent Systems ,
- Fixed Network Topology ,
- Time-varying Network Topology ,
- Estimation Error ,
- Control Strategy ,
- Continuous Communication ,
- Performance Of Control System ,
- Decentralized Control ,
- Event-triggered Scheme ,
- Inter-event Intervals ,
- Leader-following Consensus ,
- Zeno Behavior ,
- Neighboring Agents ,
- Lower Bound ,
- Discrete-time ,
- Undirected ,
- Finite Set ,
- Gain Control ,
- True State ,
- Triggering Condition ,
- Development Section ,
- Switching Topologies ,
- Directed Graph ,
- State Of The Leader ,
- Positive Definite Matrix ,
- Switching Signal ,
- Tracking Error ,
- Laplacian Matrix ,
- Event-triggered Control Strategy
- Author Keywords