Multi‐Tracking of First Order Multi‐Agent Networks Via Self‐Triggered Control

A multi-tracking problem of multi-agent networks is investigated in this paper where multi-tracking refers to that the states of multiple agents in each subnetwork asymptotically converge to the same desired trajectory in the presence of information exchanges among subnetworks. The multi-tracking of first order multi-agent networks with directed topologies was studied. Self-triggered protocols were proposed along with triggering functions to solve the stationary multi-tracking and bounded dynamic multi-tracking. The self-triggered scheduling is obtained, and the system does not exhibit Zeno behavior. Numerical examples are provided to illustrate the effectiveness of the obtained criteria.

[1]  Charles R. Johnson,et al.  Matrix analysis , 1985, Statistical Inference for Engineers and Data Scientists.

[2]  Xiaoqing Lu,et al.  Finite-Time Distributed Tracking Control for Multi-Agent Systems With a Virtual Leader , 2013, IEEE Transactions on Circuits and Systems I: Regular Papers.

[3]  A. Michel,et al.  Stability theory for hybrid dynamical systems , 1998, IEEE Trans. Autom. Control..

[4]  Paulo Tabuada,et al.  To Sample or not to Sample: Self-Triggered Control for Nonlinear Systems , 2008, IEEE Transactions on Automatic Control.

[5]  Long Wang,et al.  Group consensus of multi-agent systems with directed information exchange , 2012, Int. J. Syst. Sci..

[6]  Manuel Mazo,et al.  An ISS self-triggered implementation of linear controllers , 2009, Autom..

[7]  Xiaofeng Wang,et al.  On event design in event-triggered feedback systems , 2011, Autom..

[8]  Karl Henrik Johansson,et al.  Event-based broadcasting for multi-agent average consensus , 2013, Autom..

[9]  W. P. M. H. Heemels,et al.  Analysis of event-driven controllers for linear systems , 2008, Int. J. Control.

[10]  Xiaofeng Wang,et al.  Self-Triggered Feedback Control Systems With Finite-Gain ${\cal L}_{2}$ Stability , 2009, IEEE Transactions on Automatic Control.

[11]  Li Yu,et al.  Group consensus in multi-agent systems with hybrid protocol , 2013, J. Frankl. Inst..

[12]  M. Egerstedt,et al.  On the regularization of Zeno hybrid automata , 1999 .

[13]  Yongcan Cao,et al.  Distributed Coordinated Tracking With Reduced Interaction via a Variable Structure Approach , 2012, IEEE Transactions on Automatic Control.

[14]  Zhi-Hong Guan,et al.  Global exponential synchronization of stochastic switching networks with time‐varying delay , 2011 .

[15]  Karl Henrik Johansson,et al.  Distributed Event-Triggered Control for Multi-Agent Systems , 2012, IEEE Transactions on Automatic Control.

[16]  Paulo Tabuada,et al.  Event-Triggered Real-Time Scheduling of Stabilizing Control Tasks , 2007, IEEE Transactions on Automatic Control.

[17]  Fei Hao,et al.  Event-triggered average consensus control for discrete-time multi-agent systems , 2012 .

[18]  Jiangping Hu,et al.  Distributed event-triggered tracking control of leader-follower multi-agent systems with communication delays , 2011, Kybernetika.

[19]  Junping Du,et al.  Tracking control over a finite interval for multi-agent systems with a time-varying reference trajectory , 2012, Syst. Control. Lett..

[20]  Wei Ren,et al.  Consensus Tracking Under Directed Interaction Topologies: Algorithms and Experiments , 2008, IEEE Transactions on Control Systems Technology.

[21]  Yiguang Hong,et al.  Distributed event-triggered tracking control of multi-agent systems with active leader , 2012, Proceedings of the 10th World Congress on Intelligent Control and Automation.

[22]  Z. Guan,et al.  Quantized Consensus of Multi‐Agent Systems Via Broadcast Gossip Algorithms , 2012 .

[23]  Wei Ren,et al.  Multi-vehicle consensus with a time-varying reference state , 2007, Syst. Control. Lett..