Distributed event‐triggered feedback consensus control with state‐dependent threshold for general linear multi‐agent systems

Summary This paper considers the distributed event-triggered consensus problem for multi-agent systems with general linear dynamics under undirected graphs. Based on state feedback, we propose a novel distributed event-triggered consensus controller with state-dependent threshold for each agent to achieve consensus, without continuous communication in either controller update or triggering condition monitoring. Each agent only needs to monitor its own state continuously to determine if the event is triggered. It is proved that there is no Zeno behavior under the proposed consensus control algorithm. To relax the requirement of the state measurement of each agent, we further propose a novel distributed observer-based event-triggered consensus controller to solve the consensus problem in the case with output feedback and prove that there is no Zeno behavior exhibited. Finally, simulation results are given to illustrate the theoretical results. Copyright © 2016 John Wiley & Sons, Ltd.

[1]  Gang Feng,et al.  Observer-Based Output Feedback Event-Triggered Control for Consensus of Multi-Agent Systems , 2014, IEEE Transactions on Industrial Electronics.

[2]  Guoqiang Hu,et al.  Robust consensus tracking for a class of high-order multi-agent systems , 2014, Proceedings of the 33rd Chinese Control Conference.

[3]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[4]  Lin Huang,et al.  Consensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint , 2016, IEEE Transactions on Circuits and Systems I: Regular Papers.

[5]  Frank L. Lewis,et al.  Robust consensus of multiple inertial agents with coupling delays and variable topologies , 2011 .

[6]  Mengyin Fu,et al.  Distributed containment control of multi‐agent systems with general linear dynamics in the presence of multiple leaders , 2013 .

[7]  Eloy García,et al.  Decentralized Event-Triggered Cooperative Control with Limited Communication , 2013 .

[8]  Yao Wang,et al.  Distributed cooperative control for multiple quadrotor systems via dynamic surface control , 2013, Nonlinear Dynamics.

[9]  Guanrong Chen,et al.  Some necessary and sufficient conditions for consensus of second-order multi-agent systems with sampled position data , 2016, Autom..

[10]  Eloy García,et al.  Decentralized event-triggered consensus with general linear dynamics , 2014, Autom..

[11]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[12]  Gang Feng,et al.  Distributed event-triggered control of multi-agent systems with combinational measurements , 2013, Autom..

[13]  Zhisheng Duan,et al.  Distributed consensus for multiple Euler-Lagrange systems: An event-triggered approach , 2016 .

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

[15]  Wei Ren,et al.  Distributed consensus of linear multi-agent systems with adaptive dynamic protocols , 2011, Autom..

[16]  Panos J. Antsaklis,et al.  Event-triggered output feedback control for networked control systems using passivity: Achieving L2 stability in the presence of communication delays and signal quantization , 2013, Autom..

[17]  Gang Feng,et al.  Consensus of Linear Multi-Agent Systems by Distributed Event-Triggered Strategy , 2016, IEEE Transactions on Cybernetics.

[18]  W. P. M. H. Heemels,et al.  Output-based event-triggered control with Guaranteed ℒ∞-gain and improved event-triggering , 2010, 49th IEEE Conference on Decision and Control (CDC).

[19]  Huaicheng Yan,et al.  Consensus of multi-agent systems with linear dynamics using event-triggered control , 2014 .

[20]  Randal W. Beard,et al.  Distributed Consensus in Multi-vehicle Cooperative Control - Theory and Applications , 2007, Communications and Control Engineering.

[21]  Zhong-Ping Jiang,et al.  Event-based consensus of multi-agent systems with general linear models , 2014, Autom..

[22]  Guanghui Wen,et al.  Consensus of second-order multi-agent systems with delayed nonlinear dynamics and intermittent communications , 2013, Int. J. Control.

[23]  Dapeng Yang,et al.  Decentralized consensus for linear multi-agent systems under general directed graphs based on event-triggered/self-triggered strategy , 2014, 53rd IEEE Conference on Decision and Control.

[24]  Fei Hao,et al.  Observer-based event-triggered control for certain and uncertain linear systems , 2013, IMA J. Math. Control. Inf..

[25]  Zengqiang Chen,et al.  Event-triggered average-consensus for multi-agent systems , 2010, Proceedings of the 29th Chinese Control Conference.

[26]  Gang Feng,et al.  Containment control of linear multi‐agent systems with multiple leaders of bounded inputs using distributed continuous controllers , 2015 .

[27]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.

[28]  Zhiwen Zeng,et al.  Convergence analysis using the edge Laplacian: Robust consensus of nonlinear multi‐agent systems via ISS method , 2015, ArXiv.

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

[30]  Guanghui Wen,et al.  Event-triggered consensus tracking of multi-agent systems with Lur'e nonlinear dynamics , 2016, Int. J. Control.

[31]  R. Merris Laplacian matrices of graphs: a survey , 1994 .

[32]  Dapeng Yang,et al.  Decentralized event-triggered consensus for linear multi-agent systems under general directed graphs , 2016, Autom..

[33]  Jorge Cortés,et al.  Zeno-free, distributed event-triggered communication and control for multi-agent average consensus , 2014, 2014 American Control Conference.

[34]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.