Title :
Event-triggered consensus for discrete-time linear multi-agent systems under general directed graphs
Author :
Dapeng Yang ; Xiangdong Liu
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
This paper considers the decentralized event-triggered consensus problem for discrete-time linear multi-agent systems. The communication topology among agents is assumed to be a general directed graph containing a spanning tree. We propose an event-based consensus control algorithm rendering the states of agents reach consensus. The triggering condition is decentralized only based on the agent´s own information. Compared to the traditional consensus control law which needs communication at every iteration, the proposed event-triggered consensus algorithm in this paper can reduce the communication load greatly. Simulation is given to illustrate the theoretical results.
Keywords :
decentralised control; directed graphs; discrete time systems; linear systems; mobile robots; multi-robot systems; multivariable control systems; trees (mathematics); agent state rendering; communication load reduction; communication topology; decentralized event-triggered consensus problem; decentralized triggering condition; discrete-time linear multiagent systems; event-based consensus control algorithm; general directed graphs; spanning tree; Closed loop systems; Eigenvalues and eigenfunctions; Measurement errors; Multi-agent systems; Topology; Vectors; Vehicle dynamics; Decentralized event-triggering; consensus control; directed graph; general discrete-time system; multi-agent systems;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053151
