Leader-Following Consensus of Nonlinear Multi-Agent Systems Using Observer-Based Event-Triggered Control

This paper is devoted to the problem of leader-following consensus for a class of multi-agent systems with Lipschitz nonlinear dynamics. For reducing the communication resources, the centralized and decentralized event-triggered consensus strategies are proposed, respectively. Then, in the view of graph theory and Lyapunov stability theory, the triggering function which is related to the states of neighbor agents and corresponding agent, is obtained. Finally, a simulation example is included to demonstrate the effectiveness of the control strategies.

[1]  Lin Li,et al.  Observer-Based Event-Triggered Consensus Tracking Control of Multi-agent Systems , 2016 .

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

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

[4]  Vicsek,et al.  Novel type of phase transition in a system of self-driven particles. , 1995, Physical review letters.

[5]  Shengyuan Xu,et al.  Event-triggered average consensus for multi-agent systems with nonlinear dynamics and switching topology , 2015, J. Frankl. Inst..

[6]  Yingmin Jia,et al.  Alternative proofs for improved LMI representations for the analysis and the design of continuous-time systems with polytopic type uncertainty: a predictive approach , 2003, IEEE Trans. Autom. Control..

[7]  George J. Pappas,et al.  Flocking in Fixed and Switching Networks , 2007, IEEE Transactions on Automatic Control.

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

[9]  Dimos V. Dimarogonas,et al.  A connection between formation infeasibility and velocity alignment in kinematic multi-agent systems , 2008, Autom..

[10]  R. Murray,et al.  Consensus protocols for networks of dynamic agents , 2003, Proceedings of the 2003 American Control Conference, 2003..

[11]  Yingmin Jia,et al.  Robust control with decoupling performance for steering and traction of 4WS vehicles under velocity-varying motion , 2000, IEEE Trans. Control. Syst. Technol..

[12]  Yang Yi-b.  Obstacle Avoidance Method for Mobile Robots Based on Improved Artificial Potential Field Method and Its Implementation on MATLAB , 2013 .

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

[14]  Yue Dong,et al.  Event-triggered consensus of nonlinear multi-agent systems with nonlinear interconnections , 2013, Proceedings of the 32nd Chinese Control Conference.

[15]  Tingwen Huang,et al.  Leader-following exponential consensus of general linear multi-agent systems via event-triggered control with combinational measurements , 2015, Appl. Math. Lett..

[16]  Ella M. Atkins,et al.  Distributed multi‐vehicle coordinated control via local information exchange , 2007 .