Event-Triggered Consensus Control for Second-Order Multi-Agent Systems With/Without Input Time Delay

The paper studies the consensus of event-triggered for second-order multi-agent systems (MASs) with or without input time delay. Based on the designed triggering function, a distributed event-triggered control strategy is presented to drive the system to achieve consensus. For each agent, controller update only needs the neighbor’s information communication and its own error value, thus continuous communication among agents is not necessary. Communication energy can be saved as the agents send their state information only at infrequent event instants. To demonstrate the asymptotical stability of the closed-loop error system, S-procedure approach is used by combing Lyapunov stability theories with linear matrix inequality (LMI) technique. Two sufficient conditions are derived by solving LMIs for achieving second-order consensus under the cases of with or without input time delay, respectively.Numerical examples are presented to verify the effectiveness of the proposed controllers.

[1]  Weisheng Yan,et al.  Decentralized event-triggered consensus control strategy for leader–follower networked systems , 2017 .

[2]  Wei Xing Zheng,et al.  Dynamic Event-Based Control of Nonlinear Stochastic Systems , 2017, IEEE Transactions on Automatic Control.

[3]  Xiaofeng Liao,et al.  Input Time Delay Margin in Event-Triggered Consensus of Multiagent Systems , 2019, IEEE Transactions on Cybernetics.

[4]  Li Xiao,et al.  Event-triggered consensus in nonlinear multi-agent systems with nonlinear dynamics and directed network topology , 2016, Neurocomputing.

[5]  Karl Henrik Johansson,et al.  Actuator saturation and anti-windup compensation in event-triggered control , 2012, Discrete Event Dynamic Systems.

[6]  Shao Haoy,et al.  Consensus of Nonlinear Multi-agent Systems with Event-triggered Control , 2015 .

[7]  Xin-Ping Guan,et al.  Finite-time consensus for nonlinear multi-agent systems with time-varying delay: An auxiliary system approach , 2018, J. Frankl. Inst..

[8]  Bo Shen,et al.  Event-triggered consensus control for a class of discrete-time stochastic multi-agent systems , 2014, Proceeding of the 11th World Congress on Intelligent Control and Automation.

[9]  Xiaofeng Liao,et al.  Leader-following consensus in second-order multi-agent systems with input time delay: An event-triggered sampling approach , 2016, Neurocomputing.

[10]  Aiping Wang,et al.  Event-based consensus control for single-integrator networks with communication time delays , 2016, Neurocomputing.

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

[12]  Zhang Jian-xiong.  Stability Analysis of the Delta Operator Formulated Piecewise Linear System Based on S-Procedure , 2008 .

[13]  Tingwen Huang,et al.  Event-Triggering Sampling Based Leader-Following Consensus in Second-Order Multi-Agent Systems , 2015, IEEE Transactions on Automatic Control.

[14]  Zhong-Ping Jiang,et al.  Event-Based Leader-following Consensus of Multi-Agent Systems with Input Time Delay , 2015, IEEE Transactions on Automatic Control.

[15]  Guanghui Wen,et al.  Consensus for second-order nonlinear leader-following multi-agent systems via event-triggered control , 2017, 2017 International Workshop on Complex Systems and Networks (IWCSN).

[16]  Hai Lin,et al.  Protocols Design and Uncontrollable Topologies Construction for Multi-Agent Networks , 2015, IEEE Transactions on Automatic Control.

[17]  Long Wang,et al.  Event-Based Second-Order Consensus Control for Multi-Agent Systems via Synchronous Periodic Event Detection , 2015, IEEE Transactions on Automatic Control.

[18]  Xu Yu-jie.  Preview control for a class of time-varying discrete systems with input time-delay , 2013 .

[19]  Guo-Xing Wen,et al.  Adaptive Consensus Control for a Class of Nonlinear Multiagent Time-Delay Systems Using Neural Networks , 2014, IEEE Transactions on Neural Networks and Learning Systems.

[20]  Jorge Cortés,et al.  Event-triggered communication and control of networked systems for multi-agent consensus , 2017, Autom..

[21]  Qing-Long Han,et al.  A distributed event-triggered transmission strategy for sampled-data consensus of multi-agent systems , 2014, Autom..

[22]  Bugong Xu,et al.  Distributed Event-triggered Consensus Control for Heterogeneous Multi-agent Systems under Fixed and Switching Topologies , 2019, International Journal of Control, Automation and Systems.

[23]  Tingwen Huang,et al.  Event-Based Consensus Control for a Linear Directed Multiagent System With Time Delay , 2015, IEEE Transactions on Circuits and Systems II: Express Briefs.

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

[25]  K. Gu.  An integral inequality in the stability problem of time-delay systems , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

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

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

[28]  Hongjie Li,et al.  Event-triggered control for multi-agent systems with randomly occurring nonlinear dynamics and time-varying delay , 2014, J. Frankl. Inst..