Distributed event-triggered circle formation control for multi-agent systems with limited communication bandwidth

Wen, Jiayan; Xu, Peng; Wang, Chen; Xie, Guo; Gao, Yuan

doi:10.1016/j.neucom.2019.05.029

Cited by 23 publications

(21 citation statements)

References 36 publications

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“…Further, Wen et al [22] combined event-triggered protocols to solve circle formation problems of first-order MASs. Also, Wen et al and Xu et al [23,24] have investigated a combination algorithm based on quantized communication technology, where the problem of MASs with a limitation of communication was addressed. Given the above reviews, it is noteworthy to mention that most of the existing results on event-triggered control are to prevent the case of Zeno behavior [25,26], so that within a finite time interval, an infinite number of samplings generate.…”

Section: Introductionmentioning

confidence: 99%

“…Different from previous studies, especially [23], which paid attention to the effect of qualitative communication for event-triggered control, the main objective of this paper is to provide an observer-based event-triggered method to solve circle formation problems for both first-and secondorder MASs through a set of directed graphs. In our studies, each agent observes the distance from the counterclockwise direction to its nearest neighbor and the counterpart from the clockwise direction through communication, which is similar to Pioneer 3-DX [28].…”

Section: Introductionmentioning

confidence: 99%

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Observer-Based Event-Triggered Circle Formation Control for First- and Second-Order Multiagent Systems

Xie

Jin

et al. 2020

Complexity

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This paper proposes an observer-based event-triggered algorithm to solve circle formation control problems for both first- and second-order multiagent systems, where the communication topology is modeled by a spanning tree-based directed graph with limited resources. In particular, the observation-based event-triggering mechanism is used to reduce the update frequency of the controller, and the triggering time depends on the norm of the state function and the trigger threshold of measurement errors. The analysis shows that sufficient conditions are established for achieving the desired circle formation, while there exists at least one agent for which the next interevent interval is strictly positive. Numerical simulations of both first- and second-order multiagent systems are also given to demonstrate the effectiveness of the proposed control laws.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Observer-Based Event-Triggered Circle Formation Control for First- and Second-Order Multiagent Systems

Xie

Jin

et al. 2020

Complexity

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“…As a particular sampling strategy, event-triggered control is an alternative to periodic sample control methods [9][10][11][12][13]. The distinct character of event-triggered control is that to achieve the desired task with a certain level of performance, control actions update only when a specific event occurs, and as a result, the trade-offs are mitigated between communication, computation, and actuator effort.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, event-triggered control has already been proven superior to the periodic sample control methods. It is also shown particularly useful in MASs' applications, such as consensus problems [10,11], formation control [12,13], collision avoidance [18], and tracking control [19][20][21]. However, for event-triggered conditions in MASs [22,23], it still remains a challenge to exclude Zeno behavior, i.e., the system generates an infinite number of samplings over a finite time interval.…”

Section: Introductionmentioning

confidence: 99%

“…In [27], encoder-decoder strategies were used to achieve circle formation asymptotically with a finite-level uniform quantization, where the quantizer is not saturated in bounded communication as the number of agents increases. Moreover, based on [27], in order to address the problem circle formation problem for MASs with a limitation of communication, [13] investigated an innovative algorithm that relies on the combination of quantitative communication techniques and event-triggered control.…”

Section: Introductionmentioning

confidence: 99%

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Pull-Based Distributed Event-Triggered Circle Formation Control for Multi-Agent Systems with Directed Topologies

Zhao

Xie

et al. 2019

Applied Sciences

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This paper investigates a circle formation control problem for multi-agent systems with directed topologies via pull-based distributed event-triggered control principles. Firstly, for scenarios of continuous communication, a pull-based distributed event-triggered principle is proposed. It is proved that if the communication topology is irreducible and has a directed spanning tree, the event-triggered coupling continuous communication can lead multiple agents to form a desired circle formation. Then, the results are extended to discontinuous communication scenarios, where all the agents use a model of their neighborhoods to generate self-triggered instants without monitoring continuously, update the local controller here, and if necessary, local broadcast information based on the adopted control inputs to neighboring agents. In addition, Zeno behavior can be excluded during the whole process. Finally, numerical simulation results are given to demonstrate the effectiveness of the proposed circle formation control methods.

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Fully distributed bipartite time‐varying formation control for uncertain linear multi‐agent systems under event‐triggered mechanism

Cai

Zhang

2021

Intl J Robust & Nonlinear

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This paper addresses the distributed bipartite time-varying formation control for uncertain linear multi-agent systems under limited communication resources.First, the distributed static bipartite control protocol with sampled data is proposed to address the time-varying formation issue. It is noteworthy that in both controller updating and triggering condition monitoring, the communication is only occurred at sampling instants, which saves communication resources and reduces communication burden effectively. Moreover, the nonlinear term in static controller is used to suppress the effect of system uncertainty. Then the fully distributed adaptive bipartite event-triggered control protocol is put forward such that the time-varying formation control can be achieved. Different from the existing results on formation control, the proposed adaptive controller has the following four highlights: (1) it is fully distributed since the global information of network topology and the upper bound of uncertainty are not required; (2) the communication between neighbor agents is conducted at intermittent triggering instants, not real-time, which reduces the communication bandwidth significantly; (3) the communication between neighbors can not only be cooperative, but also be antagonistic, which is more realistic; and (4) the effect of system uncertainty can be suppressed. Furthermore, it is proven that there is no Zeno behavior in both triggering mechanisms. Finally, some numerical examples are presented to demonstrate the feasibility of the main theoretical findings.

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Distributed event-triggered circle formation control for multi-agent systems with limited communication bandwidth

Cited by 23 publications

References 36 publications

Observer-Based Event-Triggered Circle Formation Control for First- and Second-Order Multiagent Systems

Observer-Based Event-Triggered Circle Formation Control for First- and Second-Order Multiagent Systems

Pull-Based Distributed Event-Triggered Circle Formation Control for Multi-Agent Systems with Directed Topologies

Fully distributed bipartite time‐varying formation control for uncertain linear multi‐agent systems under event‐triggered mechanism

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