Data-driven consensus control of fully distributed event-triggered multi-agent systems

Abstract

This paper considers self-triggered consensus control of unknown linear multi-agent systems (MASs). Selftriggering mechanisms (STMs) are widely used in MASs, thanks to their advantages in avoiding continuous monitoring and saving computing and communication resources. However, existing results require the knowledge of system matrices, which are difficult to obtain in real-world settings. To address this challenge, we present a data-driven approach to designing STMs for unknown MASs building upon the model-based solutions. Our approach leverages a system lifting method, which allows us to derive a data-driven representation for the MAS. Subsequently, a datadriven self-triggered consensus control (STC) scheme is designed, which combines a data-driven STM with a state feedback control law. We establish a data-based stability criterion for asymptotic consensus of the closed-loop MAS in terms of linear matrix inequalities, whose solution provides a matrix for the STM as well as a stabilizing controller gain. In the presence of external disturbances, a model-based STC scheme is put forth for H∞consensus of MASs, serving as a baseline for the data-driven STC. Numerical tests are conducted to validate the correctness of the data-and model-based STC approaches. Our data-driven approach demonstrates a superior trade-off between control performance and communication efficiency from finite, noisy data relative to the system identification-based one.

Cooperative robust output regulation of linear uncertain multi‐agent systems: A dynamic event‐triggered approach

“…Therefore, we obtain that x c (t) is bounded over t ∈ [0, T i M ). Moreover, by (26), ṽci (t) is bounded over t ∈ [0, T i M ). 2) We show that there is no Zeno behavior by contradiction.…”

“…[15][16][17][18][19][20][21][22] Later, the event-triggered control approach is introduced to solve some consensus problems of multi-agent systems. [23][24][25][26] Recently, the event-triggered cooperative output regulation problem begins to receive more and more attention. [27][28][29][30][31][32] To be precise, the cooperative output regulation problem of heterogeneous linear multi-agent systems is studied in Reference 27 by event-triggered control.…”

“…Then, various event‐triggered control problems of linear and nonlinear systems are considered 15‐22 . Later, the event‐triggered control approach is introduced to solve some consensus problems of multi‐agent systems 23‐26 . Recently, the event‐triggered cooperative output regulation problem begins to receive more and more attention 27‐32 .…”

Data‐driven control of dynamic event‐triggered systems with delays

“…Reducing "redundant" data transmissions can be helpful for saving communication resources while maintaining desired control performance. To this aim, an event-triggering transmission strategy 34,35,36 was proposed. Its key idea is to monitor the system continuously, but transmit sampled data only when "necessary" according to some predefined criterion.…”

Distributed Data-Driven Control of Network Systems

“…This approach shares much of the limitations of [28], namely the necessity of high frequency communication between nodes in the network, and the need to share input-state trajectories among the networks' nodes. Further recent results on the control of interconnected systems include [32], [31], [33], [34]. However, these works focus on finding stabilizing controllers, and do not include optimization over an objective function, robustness bounds, nor explicit data-driven formulas.…”