Technical communique: Distributed event-triggered control of multi-agent systems with combinational measurements

Authors:
Yuan Fan;Gang Feng;Yong Wang;Cheng Song
Affiliations:
School of Electrical Engineering and Automation, Anhui University, Hefei 230601, China;Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong;Department of Automation, University of Science and Technology of China, Hefei 230026, China;School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China
Venue:
Automatica (Journal of IFAC)
Year:
2013

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Abstract

This paper studies the distributed rendezvous problem of multi-agent systems with novel event-triggered controllers. We have proposed a combinational measurement approach to event design and developed the basic event-triggered control algorithm. As a result, control of agents is only triggered at their own event time, which reduces the amount of communication and lowers the frequency of controller updates in practice. Furthermore, based on the convergence analysis of the basic algorithm, we have proposed a new iterative event-triggered algorithm where continuous measurement of the neighbor states is avoided. It is noted that the amount of communication among agents has been significantly reduced without obvious negative effects on the control performances. The effectiveness of the proposed strategies is illustrated by numerical examples in 3D spaces.