Event-triggered consensus for heterogeneous multi-agent systems

Author

Huang Na ; Duan Zhisheng ; Zhao Yu

Author_Institution

Dept. of Mech. & Eng. Sci., Peking Univ., Beijing, China

fYear

2014

fDate

28-30 July 2014

Firstpage

1259

Lastpage

1264

Abstract

In this study, distributed consensus problems are investigated based on event-triggered sampling information for heterogeneous multi-agent systems. The multi-agent systems in the present framework consist of two different dynamics: first- and second-order integrators. Two event-triggered schemes are designed such that each agent can decide when to transmit new state information to its neighboring agents. By using Lyapunov theory and graph theory, some sufficient conditions are presented to guarantee the event-triggered consensus for heterogeneous multi-agent systems, with the advantages of avoiding unnecessary controller updates and sensor energy consumption. Numerical simulations are finally provided to illustrate the effectiveness of the proposed control strategies.

Keywords

Lyapunov methods; distributed control; graph theory; multi-robot systems; Lyapunov theory; distributed consensus problems; event-triggered consensus; event-triggered sampling information; first-order integrator; graph theory; heterogeneous multiagent systems; second-order integrator; Decentralized control; Manganese; Multi-agent systems; Symmetric matrices; Topology; Vectors; Consensus; Distributed Control; Event-triggered Control; Multi-agent System;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896809

Filename

6896809