Abstract:
This article addresses the problem of event-based consensus in a leader–follower multiagent system framework prone to external bounded disturbance. The proposed approach ...Show MoreMetadata
Abstract:
This article addresses the problem of event-based consensus in a leader–follower multiagent system framework prone to external bounded disturbance. The proposed approach has three parts. The first part defines a novel measurement error based on sliding surface for super-twisting sliding-mode controller. The Lyapunov stability analysis is then used to derive a dynamic event-triggering condition for control updates. The event-based control updates guarantee stability along with the desired consensus amongst agents (robots). The second part derives a bound on reaching time to the sliding surface, thereby guaranteeing finite-time consensus control for each agent. The third part guarantees the admissibility of event-based control updates for each agent. The robustness of the proposed approach is validated through simulation and real-time experiments using three Pioneer P3-DX mobile robots in a multiagent framework. The real-time experimental results prove the reduction in computational burden of the entire system as control updates for two followers are found to be approximately \text{28.33}\% and \text{23.33}\%, respectively, in the presence of disturbances.
Published in: IEEE Systems Journal ( Volume: 15, Issue: 1, March 2021)
Funding Agency:
Department of Electrical Engineering, Indian Institute of Technology Kanpur, Kanpur, India
Anuj Nandanwar received the master's degree in electronics and telecommunication from the Chhattisgarh Swami Vivekanand Technical University, Bhilai, India. He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, IIT Kanpur, Kanpur, India.
His research interests include cyber-physical systems, cooperative control of multirobot systems, sliding-mode control, and event-trigger control.
Anuj Nandanwar received the master's degree in electronics and telecommunication from the Chhattisgarh Swami Vivekanand Technical University, Bhilai, India. He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, IIT Kanpur, Kanpur, India.
His research interests include cyber-physical systems, cooperative control of multirobot systems, sliding-mode control, and event-trigger control.View more
Department of Electrical Engineering, Indian Institute of Technology Kanpur, Kanpur, India
Narendra Kumar Dhar received the master's degree in control system from IIT Roorkee, Roorkee, India, in 2013. He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, IIT Kanpur, Kanpur, India.
His research interests include cyber-physical systems, smart home automation, and softcomputing.
Narendra Kumar Dhar received the master's degree in control system from IIT Roorkee, Roorkee, India, in 2013. He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, IIT Kanpur, Kanpur, India.
His research interests include cyber-physical systems, smart home automation, and softcomputing.View more
Department of Mechanical Engineering, Belgorod State Technological University, Belgorod, Russian Federation
Dmitry Malyshev graduated from Belgorod State Technological University named after V.G. Shukhov in 2015, specializing in mechanical engineering technology.
Since 2015, he has been working at the Center for High Technologies at Belgorod State Technological University named after V.G. Shukhov. His research interests include a wide range of issues related to numerical optimization and simulation methods as applied to robots a...Show More
Dmitry Malyshev graduated from Belgorod State Technological University named after V.G. Shukhov in 2015, specializing in mechanical engineering technology.
Since 2015, he has been working at the Center for High Technologies at Belgorod State Technological University named after V.G. Shukhov. His research interests include a wide range of issues related to numerical optimization and simulation methods as applied to robots a...View more
Department of Mechanical Engineering, Belgorod State Technological University, Belgorod, Russian Federation
Larisa Rybak graduated with honors from the Kharkov Aviation Institute, in 1985. She received the Ph.D. degree in the theory of mechanisms and machines from the Moscow Academy of Instrument Engineering, Russia, in 1992 and the Ph.D. Hab. degree in 1998.
From 1985 to 1994, she worked with the Moscow State Open University as an Assistant Professor. From 1994 to 2002, she worked with the Mechanical Engineering Research Instit...Show More
Larisa Rybak graduated with honors from the Kharkov Aviation Institute, in 1985. She received the Ph.D. degree in the theory of mechanisms and machines from the Moscow Academy of Instrument Engineering, Russia, in 1992 and the Ph.D. Hab. degree in 1998.
From 1985 to 1994, she worked with the Moscow State Open University as an Assistant Professor. From 1994 to 2002, she worked with the Mechanical Engineering Research Instit...View more
Department of Electrical Engineering, Indian Institute of Technology Kanpur, Kanpur, India
Laxmidhar Behera (Senior Member, IEEE) received the B.Sc. and M.Sc. degrees in engineering from, NIT Rourkela, Rourkela, India, in 1988 and 1990, respectively, and the Ph.D. degree from IIT Delhi, New Delhi, India, in 1996. He pursued the postdoctoral studies in the German National Research Center for Information Technology, GMD, Sank Augustin, Germany from 2000--2001.
From 1995 to 1999, he has worked as an Assistant Profe...Show More
Laxmidhar Behera (Senior Member, IEEE) received the B.Sc. and M.Sc. degrees in engineering from, NIT Rourkela, Rourkela, India, in 1988 and 1990, respectively, and the Ph.D. degree from IIT Delhi, New Delhi, India, in 1996. He pursued the postdoctoral studies in the German National Research Center for Information Technology, GMD, Sank Augustin, Germany from 2000--2001.
From 1995 to 1999, he has worked as an Assistant Profe...View more
Contents Department of Electrical Engineering, Indian Institute of Technology Kanpur, Kanpur, India
Anuj Nandanwar received the master's degree in electronics and telecommunication from the Chhattisgarh Swami Vivekanand Technical University, Bhilai, India. He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, IIT Kanpur, Kanpur, India.
His research interests include cyber-physical systems, cooperative control of multirobot systems, sliding-mode control, and event-trigger control.
Anuj Nandanwar received the master's degree in electronics and telecommunication from the Chhattisgarh Swami Vivekanand Technical University, Bhilai, India. He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, IIT Kanpur, Kanpur, India.
His research interests include cyber-physical systems, cooperative control of multirobot systems, sliding-mode control, and event-trigger control.View more
Department of Electrical Engineering, Indian Institute of Technology Kanpur, Kanpur, India
Narendra Kumar Dhar received the master's degree in control system from IIT Roorkee, Roorkee, India, in 2013. He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, IIT Kanpur, Kanpur, India.
His research interests include cyber-physical systems, smart home automation, and softcomputing.
Narendra Kumar Dhar received the master's degree in control system from IIT Roorkee, Roorkee, India, in 2013. He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, IIT Kanpur, Kanpur, India.
His research interests include cyber-physical systems, smart home automation, and softcomputing.View more
Department of Mechanical Engineering, Belgorod State Technological University, Belgorod, Russian Federation
Dmitry Malyshev graduated from Belgorod State Technological University named after V.G. Shukhov in 2015, specializing in mechanical engineering technology.
Since 2015, he has been working at the Center for High Technologies at Belgorod State Technological University named after V.G. Shukhov. His research interests include a wide range of issues related to numerical optimization and simulation methods as applied to robots and manipulators of various structures.
Dmitry Malyshev graduated from Belgorod State Technological University named after V.G. Shukhov in 2015, specializing in mechanical engineering technology.
Since 2015, he has been working at the Center for High Technologies at Belgorod State Technological University named after V.G. Shukhov. His research interests include a wide range of issues related to numerical optimization and simulation methods as applied to robots and manipulators of various structures.View more
Department of Mechanical Engineering, Belgorod State Technological University, Belgorod, Russian Federation
Larisa Rybak graduated with honors from the Kharkov Aviation Institute, in 1985. She received the Ph.D. degree in the theory of mechanisms and machines from the Moscow Academy of Instrument Engineering, Russia, in 1992 and the Ph.D. Hab. degree in 1998.
From 1985 to 1994, she worked with the Moscow State Open University as an Assistant Professor. From 1994 to 2002, she worked with the Mechanical Engineering Research Institute of the Russian Academy of Sciences. Since 2004, she has been working with the Belgorod State Technological University, named after V.G. Shukhov, as a Professor and Head of the Scientific Laboratory of Mechatronics and Robotics. Her research interests include mechanics of machines and robots, intelligent control systems for machines and robots, mathematical simulation, optimization, and computational methods.
Larisa Rybak graduated with honors from the Kharkov Aviation Institute, in 1985. She received the Ph.D. degree in the theory of mechanisms and machines from the Moscow Academy of Instrument Engineering, Russia, in 1992 and the Ph.D. Hab. degree in 1998.
From 1985 to 1994, she worked with the Moscow State Open University as an Assistant Professor. From 1994 to 2002, she worked with the Mechanical Engineering Research Institute of the Russian Academy of Sciences. Since 2004, she has been working with the Belgorod State Technological University, named after V.G. Shukhov, as a Professor and Head of the Scientific Laboratory of Mechatronics and Robotics. Her research interests include mechanics of machines and robots, intelligent control systems for machines and robots, mathematical simulation, optimization, and computational methods.View more
Department of Electrical Engineering, Indian Institute of Technology Kanpur, Kanpur, India
Laxmidhar Behera (Senior Member, IEEE) received the B.Sc. and M.Sc. degrees in engineering from, NIT Rourkela, Rourkela, India, in 1988 and 1990, respectively, and the Ph.D. degree from IIT Delhi, New Delhi, India, in 1996. He pursued the postdoctoral studies in the German National Research Center for Information Technology, GMD, Sank Augustin, Germany from 2000--2001.
From 1995 to 1999, he has worked as an Assistant Professor with BITS Pilani and as a Reader with Intelligent Systems Research Center, University of Ulster, UK, form 2007 to 2009. He has also worked as a Visiting Researcher/Professor with FHG, Germany, and ETH, Zurich. He is currently working as Poonam and Prabhu Goel Chair Professor with IIT Kanpur, Kanpur, India, having research and teaching experience of more than 24 years. His primary research interests include the convergence of machine learning, control theory, robotic vision and heterogeneous robotic platforms. His other research interests include intelligent control, semantic signal/music processing, neural networks, control of cyber-physical systems and cognitive modelling.
Dr. Behera has established industrial collaboration with TCS, Renault Nissan, BEL, Bangalore and ADNOC, Abu Dhabi. He is a Fellow of INAE.
Laxmidhar Behera (Senior Member, IEEE) received the B.Sc. and M.Sc. degrees in engineering from, NIT Rourkela, Rourkela, India, in 1988 and 1990, respectively, and the Ph.D. degree from IIT Delhi, New Delhi, India, in 1996. He pursued the postdoctoral studies in the German National Research Center for Information Technology, GMD, Sank Augustin, Germany from 2000--2001.
From 1995 to 1999, he has worked as an Assistant Professor with BITS Pilani and as a Reader with Intelligent Systems Research Center, University of Ulster, UK, form 2007 to 2009. He has also worked as a Visiting Researcher/Professor with FHG, Germany, and ETH, Zurich. He is currently working as Poonam and Prabhu Goel Chair Professor with IIT Kanpur, Kanpur, India, having research and teaching experience of more than 24 years. His primary research interests include the convergence of machine learning, control theory, robotic vision and heterogeneous robotic platforms. His other research interests include intelligent control, semantic signal/music processing, neural networks, control of cyber-physical systems and cognitive modelling.
Dr. Behera has established industrial collaboration with TCS, Renault Nissan, BEL, Bangalore and ADNOC, Abu Dhabi. He is a Fellow of INAE.View more
