Average consensus problems in networks of agents with delayed communications
Automatica (Journal of IFAC)
Brief paper: On input-to-state stability of systems with time-delay: A matrix inequalities approach
Automatica (Journal of IFAC)
Consensus in networked multi-agent systems via sampled control: fixed topology case
ACC'09 Proceedings of the 2009 conference on American Control Conference
Brief paper: Decentralized estimation and control of graph connectivity for mobile sensor networks
Automatica (Journal of IFAC)
Delay robustness in consensus problems
Automatica (Journal of IFAC)
Global consensus for discrete-time multi-agent systems with input saturation constraints
Automatica (Journal of IFAC)
Event-based consensus of multi-agent systems with general linear models
Automatica (Journal of IFAC)
Hi-index | 22.15 |
A novel control strategy for multi-agent coordination with event-based broadcasting is presented. In particular, each agent decides itself when to transmit its current state to its neighbors and the local control laws are based on these sampled state measurements. Three scenarios are analyzed: Networks of single-integrator agents with and without communication delays, and networks of double-integrator agents. The novel event-based scheduling strategy bounds each agent's measurement error by a time-dependent threshold. For each scenario it is shown that the proposed control strategy guarantees either asymptotic convergence to average consensus or convergence to a ball centered at the average consensus. Moreover, it is shown that the inter-event intervals are lower-bounded by a positive constant. Numerical simulations show the effectiveness of the novel event-based control strategy and how it compares to time-scheduled control.