An input-based triggering approach to leader-following problems

In this paper, an event-based leader-following strategy for synchronization of multi-agent systems (MASs) is considered. A model-based approach is adopted to predict the relative inter-node states between intermittent communications. The predicted values of the relative inter-node states are forwarded to the controller to calculate a piecewise continuous control signal. The communication between two linked agents is triggered according to a protocol based on their control inputs. The proposed leader-following strategy guarantees exponential state synchronization under time-dependent thresholds and bounded state synchronization under constant thresholds, respectively. Furthermore, the elapsed time between any two successive triggering instants for any pair of linked agents is lower bounded by a constant. The communication frequency reduction potential of the proposed leader-following strategy is well demonstrated via a numerical example.

[1]  Gordon F. Royle,et al.  Algebraic Graph Theory , 2001, Graduate texts in mathematics.

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

[3]  Ji-Feng Zhang,et al.  Necessary and Sufficient Conditions for Consensusability of Linear Multi-Agent Systems , 2010, IEEE Transactions on Automatic Control.

[4]  Jinde Cao,et al.  Event-Triggered Schemes on Leader-Following Consensus of General Linear Multiagent Systems Under Different Topologies , 2017, IEEE Transactions on Cybernetics.

[5]  Karl Henrik Johansson,et al.  Event-Triggered Pinning Control of Switching Networks , 2015, IEEE Transactions on Control of Network Systems.

[6]  Warren E. Dixon,et al.  Decentralized event-triggered control for leader-follower consensus , 2014, 53rd IEEE Conference on Decision and Control.

[7]  Peng Shi,et al.  Passivity-Based Asynchronous Control for Markov Jump Systems , 2017, IEEE Transactions on Automatic Control.

[8]  Tingwen Huang,et al.  Event-Triggering Sampling Based Leader-Following , 2015 .

[9]  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..

[10]  Tongwen Chen,et al.  Sampled-data consensus in switching networks of integrators based on edge events , 2015, Int. J. Control.

[11]  Cleve B. Moler,et al.  Nineteen Dubious Ways to Compute the Exponential of a Matrix, Twenty-Five Years Later , 1978, SIAM Rev..

[12]  Karl Henrik Johansson,et al.  Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control , 2010, Autom..

[13]  Karl Henrik Johansson,et al.  Distributed event-based control strategies for interconnected linear systems , 2013 .

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

[15]  Ziyang Meng,et al.  Pulse width modulation for multi-agent systems , 2016, Autom..

[16]  C. Loan The Sensitivity of the Matrix Exponential , 1977 .

[17]  Jie Huang,et al.  A General Result on the Robust Cooperative Output Regulation for Linear Uncertain Multi-Agent Systems , 2013, IEEE Transactions on Automatic Control.

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

[19]  Tongwen Chen,et al.  Event based agreement protocols for multi-agent networks , 2013, Autom..