Event-triggered Formation Control of a Generalized Multi-agent System

被引：0
|
作者：
Toyota, Ryo [1 ]
Namerikawa, Toru [1 ]
机构：
[1] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa, Japan
来源：
2018 57TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) | 2018年
关键词：
Multi-agent system; formation control; event-triggered control;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, we propose an event-triggered formation control algorithm for a multi-agent system consists of linear discrete agents in order to reduce energy consumption due to unnecessary calculation and communication of agents. By using the event-triggered protocol, which updates the control input aperiodically only when certain triggering condition is satisfied, calculation and communication frequency are reduced. Also the multi-agent system is guaranteed an almost sure stability by determining the control input update timing by the triggering condition which is based on Lyapunov's stability theorem. Finally we verify the effectiveness of the proposed algorithm by numerical simulation.
引用
收藏
页码：940 / 945
页数：6
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