Multi-agent robust consensus-Part II: Application to distributed event-triggered coordination

Author

Shi, Guodong ; Johansson, Karl Henrik

Author_Institution

ACCESS Linnaeus Centre, R. Inst. of Technol., Stockholm, Sweden

fYear

2011

fDate

12-15 Dec. 2011

Firstpage

5738

Lastpage

5743

Abstract

In the first part of the paper, robust consensus was discussed for continuous-time multi-agent systems with uncertainties in the dynamics. As an application of the robust consensus analysis, this part of the paper further investigates distributed multi-agent coordination via event-triggered strategies, where the control input of each agent is piecewise constant. Each agent chooses the instances to update its control input by checking whether its state error meets a given time-dependent function or not. Proper triggering conditions are given for the system to reach a global consensus using piecewise costant control with directed time-varying communication graphs under neighbor-synchronous and asynchronous updating protocols, respectively.

Keywords

continuous time systems; multi-agent systems; piecewise constant techniques; continuous-time multiagent systems; directed time-varying communication graphs; distributed event-triggered coordination; distributed multiagent coordination; event-triggered strategies; multiagent robust consensus; neighbor-asynchronous updating protocols; neighbor-synchronous updating protocols; piecewise constant control; robust consensus analysis; time-dependent function; Control systems; Convergence; Joints; Multiagent systems; Protocols; Robustness; Topology; Event-triggered coordination; Joint connection; Multi-agent systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Conference_Location

Orlando, FL

ISSN

0743-1546

Print_ISBN

978-1-61284-800-6

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2011.6160958

Filename

6160958