Distributed event-triggered control for multi-agent formation stabilization

Viel, Christophe; Bertrand, Sylvain; Kieffer, Michel; Piet-Lahanier, Hélène

doi:10.1016/j.ifacol.2017.08.1227

Cited by 7 publications

(4 citation statements)

References 11 publications

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“…. , q Assumptions A1, A2, A3 and A4 have been previously considered in [11][12][13]18,19]. The following assumptions are considered for each Agent i: A6) The velocity qi and acceleration qi are bounded,…”

Section: Multi-agent Systemmentioning

confidence: 99%

“…As soon as a function of the error between this estimate and xi reaches some threshold, Agent i triggers a communication to allow its neighbors to refresh their estimate of xi. The main difficulty, compared to [19,21], lies in the fact that estimators have to account for packet losses. In the solution proposed here, each Agent maintains several estimates of its own state accounting for different packet loss hypotheses, and an estimate of the state of its neighbors with the last information received.…”

Section: Overview Of the Proposed Approachmentioning

confidence: 99%

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Distributed event-triggered formation control for multi-agent systems in presence of packet losses

et al. 2022

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Section: Multi-agent Systemmentioning

confidence: 99%

Section: Overview Of the Proposed Approachmentioning

confidence: 99%

Distributed event-triggered formation control for multi-agent systems in presence of packet losses

et al. 2022

Self Cite

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“…The control signal is then transmitted to the follower satellites that only execute the required actuation. Hence, a constrained communication network will restrict the implementation of a continuous-time control strategy for such multi-agent systems [13]. Therefore, an alternative approach is needed that would exert less stress on the wireless communication channel.…”

Section: Introductionmentioning

confidence: 99%

Prescribed Performance-Based Event-Driven Fault-Tolerant Robust Attitude Control of Spacecraft under Restricted Communication

et al. 2021

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This paper explores the problem of attitude stabilization of spacecraft under multiple uncertainties and constrained bandwidth resources. The proposed control law is designed by combining the sliding mode control (SMC) technique with a prescribed performance control (PPC) method. Further, the control input signal is executed in an aperiodic time framework using the event-trigger (ET) mechanism to minimize the control data transfer through a constrained wireless network. The SMC provides robustness against inertial uncertainties, disturbances, and actuator faults, whereas the PPC strategy aims to achieve a predefined system performance. The PPC technique is developed by transforming the system attitude into a new variable using the prescribed performance function, which acts as a predefined constraint for transient and steady-state responses. In addition, the ET mechanism updates the input value to the actuator only when there is a violation of the triggering rule; otherwise, the actuator output remains at a fixed value. Moreover, the proposed triggering rule is constituted through the Lyapunov stability analysis. Thus, the proposed approach can be extended to a broader class of complex nonlinear systems. The theoretical analyses prove the uniformly ultimately bounded stability of the closed-loop system and the non-existence of the Zeno behavior. The effectiveness of the proposed methodology is also presented along with the comparative studies through simulation results.

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“…In practice, under a limited bandwidth, it is necessary and important to consider the issues of energy waste and competition [21]. Therefore, event-triggered communication mechanism was born at the right moment [22,23]. As a popular research topic, some latest event-triggered control 2 Complexity results were provided in [24][25][26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Event‐Based Time Varying Formation Control for Multiple Quadrotor UAVs with Markovian Switching Topologies

Zhou

Wang

2018

Complexity

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Time varying formation control problem for a group of quadrotor unmanned aerial vehicles (UAVs) under Markovian switching topologies is investigated through a modified dynamic event-triggered control protocol. The formation shape is specified by a time varying vector, which prescribes the relative positions and bearings among the whole agents. Instead of the general stochastic topology, the graph is governed by a set of Markov chains to the edges, which can recover the traditional Markovian switching topologies in line with the practical communication network. The stability proof for the state space origin of the overall closed-loop system is derived from the singular perturbation method and Lyapunov stability theory. An event-triggered formation control protocol in terms of a dynamically varying threshold parameter is delicately carried out, while acquiring satisfactory resource efficiency, and Zeno behavior of triggering time sequences is excluded. Finally, simulations on six quadrotor UAVs are given to verify the effectiveness of the theoretical results.

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Distributed event-triggered control for multi-agent formation stabilization

Cited by 7 publications

References 11 publications

Distributed event-triggered formation control for multi-agent systems in presence of packet losses

Distributed event-triggered formation control for multi-agent systems in presence of packet losses

Prescribed Performance-Based Event-Driven Fault-Tolerant Robust Attitude Control of Spacecraft under Restricted Communication

Event‐Based Time Varying Formation Control for Multiple Quadrotor UAVs with Markovian Switching Topologies

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