Broadcast and Event Triggered Distributed Consensus Controller for Multi Agent Motion Coordination Systems

This paper integrates a multi-agent broadcast controller with an event triggered distributed controller to solve multi agent motion coordination consensus issue. The broadcast controller has been designed by using the Simultaneous Perturbation Stochastic Algorithm. A distributed consensus protocol is adopted with an event triggering function to achieve local consensus among agents with a less number of communication channel usage. Each agent will receive a feedback signal from broadcast controller to update its position from the target while the communication between agent and its neighbours will happen if satisfying the event triggered condition at event instant time. It has been proven that the system can achieve consensus by utilizing the proposed control method. This result shows that at a certain time and iteration the agent can reach the target while reducing the communication channel usage as well as utilization of energy consumption during the process.