Title :
Decentralized event-triggered control of networked systems-part 1: Leader-follower consensus under switching topologies
Author :
Teng-Hu Cheng ; Zhen Kan ; Klotz, Justin R. ; Shea, John M. ; Dixon, Warren E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL, USA
Abstract :
A decentralized controller that uses event-triggered scheduling is developed for the leader-follower consensus problem under switching communication topologies. To reduce inter-agent communication, a feedback controller is designed based on state estimates of neighboring agents that are updated by scheduled communication. The state estimates are updated when the network topology switches or a decentralized trigger condition is met. The trigger condition is designed such that the control requires reduced inter-agent communication for feedback while still achieving leader-follower consensus under switching topologies. 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 asymptotic convergence of the developed control methodology.
Keywords :
Lyapunov methods; decentralised control; feedback; networked control systems; telecommunication control; telecommunication network topology; telecommunication switching; Lyapunov-based convergence analysis; Zeno behavior; decentralized event-triggered control; event-triggered scheduling; feedback controller; inter-agent communication; leader-follower consensus; networked systems; switched dynamics; switching communication topologies; switching topologies; Computer architecture; Convergence; Network topology; Nickel; Switches; Topology;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7172190