Event-triggered consensus of nonlinear multi-agent systems with stochastic switching topology

Abstract This paper is concerned with a leader-follower consensus problem for networked Lipschitz nonlinear multi-agent systems. An event-triggered consensus controller is developed with the consideration of discontinuous state feedback. To further enhance the robustness of the proposed controller, modeling uncertainty and switching topology are also considered in the stability analysis. Meanwhile, a time-delay equivalent approach is adopted to deal with the discrete-time control problem. Particularly, a sufficient condition for the stochastic stabilization of the networked multi-agent systems is proposed based on the Lyapunov functional method. Furthermore, an optimization algorithm is developed to derive the parameters of the controller. Finally, numerical simulation is conducted to demonstrate the effectiveness of the proposed control algorithm.

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

[2]  Donghua Zhou,et al.  H∞ design of 2D controller for batch processes with uncertainties and interval time-varying delays , 2013 .

[3]  Yu Zhao,et al.  Leader-following consensus of second-order non-linear multi-agent systems with directed intermittent communication , 2014 .

[4]  Jiangping Hu,et al.  Brief paper: Leader-following consensus for multi-agent systems via sampled-data control , 2011 .

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

[6]  Ge Guo,et al.  Sampled-data leader-following consensus for nonlinear multi-agent systems with Markovian switching topologies and communication delay , 2015, J. Frankl. Inst..

[7]  Jinde Cao,et al.  Leader-following consensus of multi-agent systems via sampled-data control with randomly missing data , 2015, Neurocomputing.

[8]  Ju H. Park,et al.  Leader-following consensus for networked multi-teleoperator systems via stochastic sampled-data control , 2015, Neurocomputing.

[9]  Wojciech Paszke,et al.  Robust finite frequency range iterative learning control design and experimental verification , 2013 .

[10]  Emilia Fridman,et al.  A refined input delay approach to sampled-data control , 2010, Autom..

[11]  Zhi-Hong Guan,et al.  Distributed tracking control of second-order multi-agent systems with sampled data , 2014, J. Frankl. Inst..

[12]  Derui Ding,et al.  Event-triggered consensus control for discrete-time stochastic multi-agent systems: The input-to-state stability in probability , 2015, Autom..

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

[14]  Lei Zhou,et al.  Synchronization of chaotic Lur'e systems with quantized sampled-data controller , 2014, Commun. Nonlinear Sci. Numer. Simul..

[15]  Reza Olfati-Saber,et al.  Flocking for multi-agent dynamic systems: algorithms and theory , 2006, IEEE Transactions on Automatic Control.

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

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

[18]  M. Degroot.  Reaching a Consensus , 1974 .

[19]  Emilia Fridman,et al.  Robust sampled-data stabilization of linear systems: an input delay approach , 2004, Autom..

[20]  Jinde Cao,et al.  Second-order leader-following consensus of nonlinear multi-agent systems via pinning control , 2010, Syst. Control. Lett..

[21]  Kai Liu,et al.  Leader-following consensus of multi-agent systems with jointly connected topology using distributed adaptive protocols , 2014, J. Frankl. Inst..

[22]  Daizhan Cheng,et al.  Leader-following consensus of multi-agent systems under fixed and switching topologies , 2010, Syst. Control. Lett..

[23]  Zhiyong Yu,et al.  Leader-follower guaranteed-cost consensualization for high-order linear swarm systems with switching topologies , 2015, J. Frankl. Inst..

[24]  L. Ghaoui,et al.  A cone complementarity linearization algorithm for static output-feedback and related problems , 1997, IEEE Trans. Autom. Control..

[25]  Jinde Cao,et al.  $M$-Matrix Strategies for Pinning-Controlled Leader-Following Consensus in Multiagent Systems With Nonlinear Dynamics , 2013, IEEE Transactions on Cybernetics.

[26]  Tao Li,et al.  Finite-Time Consensus for Leader-Following Second-Order Multi-Agent Networks , 2012, IEEE Transactions on Circuits and Systems I: Regular Papers.

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

[28]  Lei Liu,et al.  Distributed formation control of networked Euler-Lagrange systems with fault diagnosis , 2015, J. Frankl. Inst..

[29]  Huijun Gao,et al.  New results on stabilization of Markovian jump systems with time delay , 2009, Autom..

[30]  Lihua Xie,et al.  Output feedback H∞ control of systems with parameter uncertainty , 1996 .

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

[32]  Xiao Fan Wang,et al.  Rendezvous of multiple mobile agents with preserved network connectivity , 2010, Syst. Control. Lett..

[33]  Zidong Wang,et al.  Event-triggered distributed ℋ ∞ state estimation with packet dropouts through sensor networks , 2015 .

[34]  J. Doyle,et al.  Essentials of Robust Control , 1997 .

[35]  Alan J. Laub,et al.  Matrix analysis - for scientists and engineers , 2004 .

[36]  João Pedro Hespanha,et al.  Exponential stability of impulsive systems with application to uncertain sampled-data systems , 2008, Syst. Control. Lett..

[37]  Nancy A. Lynch,et al.  Distributed Algorithms , 1992, Lecture Notes in Computer Science.

[38]  L. Sander,et al.  Diffusion-limited aggregation, a kinetic critical phenomenon , 1981 .

[39]  Wei Ren,et al.  Information consensus in multivehicle cooperative control , 2007, IEEE Control Systems.

[40]  Richard M. Murray,et al.  Information flow and cooperative control of vehicle formations , 2004, IEEE Transactions on Automatic Control.

[41]  Jie Huang,et al.  Leader-following consensus of multiple uncertain Euler–Lagrange systems under switching network topology , 2014, Int. J. Gen. Syst..

[42]  Matthew A. Franchek,et al.  Robust SISO H 8 controller design for nonlinear systems , 2005 .

[43]  Magdi S. Mahmoud,et al.  Leader-following discrete consensus control of multi-agent systems with fixed and switching topologies , 2015, J. Frankl. Inst..

[44]  Francesco Bullo,et al.  Esaim: Control, Optimisation and Calculus of Variations Spatially-distributed Coverage Optimization and Control with Limited-range Interactions , 2022 .