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This paper proposes new decentralised event-triggering conditions for single-and double integrator multi-agent systems. The developed conditions are based on the relative ratio of the state measurement error and norm of a state function for actuating the controller updates. With higher limits on the maximum tolerable state measurement error, the controller is shown to reduce the actuation updates and hence, the use of available resources. The network topology is assumed to be undirected and connected. The inter-event intervals are shown to be strictly positive for all agents to eliminate the zeno phenomenon. The theoretical concepts are further demonstrated through numerical comparisons and illustrative simulations.INDEX TERMS Decentralised event-triggered control, inter-event interval, multi-agent systems, zeno phenomenon

This article addresses the distributed consensus problem for linear multi-agent systems (MASs) with undirected connected communication topology and saturation limits on the controller input. The networked system has been modeled using a multigraph consisting of directed self-loops. We first represent the saturated control scheme using a polytopic formulation, for appropriate consideration of the control input. Subsequently, we derive sufficient conditions for design of a robust static output feedback controller to achieve consensus of the MAS. The synthesis problem is formulated in the form of linear matrix inequalities for H ∞ controller design. Next, the leader-follower topology is considered, with a single leader, for which it is shown that the same controller design technique applies, under a multigraph with single self-loop. Finally, we validate the theoretical results using numerical examples and further simulate the designed control method on a network of spring-mass systems.

This study is concerned on the design of a quasi-linear parameter varying (qLPV) proportional-integral (PI) controller for twin rotor multiple-input multiple-output systems (TRMS). The non-linear model is represented as a qLPV polytopic plant with an affine dependence on a non-linear parametric function of the pitch angle. This representation retains the exact model as opposed to the conventional linearisation around an operating point. Due to the availability of the pitch angle measurement, the non-linear parameter can be obtained in real-time and the controller is designed using qLPV technique. To deal with limited control input for such systems, the proposed controller design also considers the actuator saturation that yields controller with practical gains without any additional gain bound criterion. Further, the transient tracking performance is also considered in the design by using closed-loop eigenvalues assignment in desired damping regions. The control synthesis problem is formulated in the form of linear matrix inequalities for ℒ 2 gain based performance criterion. The designed controller is validated on a twodegree of freedom helicopter experimental setup. Finally, to demonstrate the effectiveness of the proposed design, a comparative analysis is done with the existing algorithms. Also, the efficacy of the decentralised controller visa -vis the centralised one is presented.

The article analyses possible ways of using predictive controllers to perform control tasks and dynamic decoupling for dynamic systems with Multiple Inputs and Multiple Outputs (MIMO). The results of experiments on the selected reference plant are presented, showing the effectiveness of individual decoupling methods. These are also compared to those obtained in typical control systems with Proportional-Integral-Derivative (PID) controllers. Recommendations are made on how to tune model predictive controllers (MPC) for their effective use for MIMO plants.