Event-triggered and self-triggered formation control of a linear multi-agent system

被引：0

作者：

Toyota R. ^{[1
]}

Kotani K. ^{[1
]}

Namerikawa T. ^{[1
]}

机构：

[1] Graduate School of Science and Engineering, Keio University, 3-14-1, Hiyoshi, Kohoku-ku, Yokohama, Kanagawa

来源：

IEEJ Transactions on Electronics, Information and Systems | 2020年 / 140卷 / 03期

基金：

日本学术振兴会;

关键词：

Event-triggered control; Formation control; Multi-agent system; Self-triggered control;

D O I：

10.1541/ieejeiss.140.303

中图分类号：

学科分类号：

摘要：

In this paper, a distributed event-triggered formation control algorithm for a multi-agent system which consists of linear discrete-time agents is proposed. For agents to achieve a formation, it is necessary to communicate with each other to feedback their information. For communication, wireless communications are desirable for various tasks since wired networks can constrain their movement. Also, each agent have to observe their states from sensors. Those energy consumption due to unneecessary calculation and communication of agents may shorten battery life of agents. By using the event-triggered protocol, which updates the control input aperiodically only when certain triggering condition is satisfied, we aim to reduce those calculation and communication by reducing the input update frequency. Also the multi-agent system is guaranteed to achieve a formation by determining the triggering condition of the control input based on Lyapunov's stability theorem. At the end of the paper, the effectiveness of the proposed algorithm is verified by numerical simulation. © 2020 The Institute of Electrical Engineers of Japan.

引用

页码：303 / 311

页数：8

共 11 条

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