Distributed model based event-triggered control for synchronization of multi-agent systems

Abstract

This paper investigates the problem of event-triggered control for the synchronization of networks of nonlinear dynamical agents; distributed model-based approaches able to guarantee the synchronization of the overall system are derived. In these control schemes all the agents use a model of their neighbourhood in order to generate triggering instants in which the local controller is updated and, if needed, local information based on the adopted control input is broadcasted to neighbouring agents. Synchronization of the network is proved and the existence of Zeno behaviour is excluded; an event-triggered strategy able to guarantee the existence of a minimum lower bound between inter-event times for broadcasted information and for control signal updating is proposed, thus allowing applications where both the communication bandwidth and the maximum updating frequency of actuators are critical. This idea is further extended in an asynchronous periodic event-triggered schemes where the agents check a trigger condition via a periodic distributed communication without requiring a model based computation

A Survey on Aerial Swarm Robotics

“…Instead of exchanging communication continuously or over finite intervals of time, as in the previous cases, it is sufficient for stability to exchange information between neighboring agents at discrete instants of time. Conditions for stability in such cases have been found for single integrator dynamics on undirected graphs [75], consensus on balanced digraphs [76], convergence to a trajectory on time-varying graphs [77], and synchronization of general nonlinear dynamics on balanced graphs [28], [73], [78]. These conditions typically depend on the underlying dynamics and also help determine the conditions under which communication must be triggered.…”

Event-based exponential synchronization of complex networks

“…Different from the traditional discrete-time updating controllers, the eventtriggered controller updates are determined by certain events that are triggered depending on the nodes' behavior. Based on the seminal works (Å ström and Bernhardsson 2002;Å ström 2008), the event-triggered controllers have been adopted widely for control science and engineering applications (Wang and Lemmon 2011;Mazo and Tabuada 2011;Tabuada 2007;Dimarogonas et al 2012;Almeida et al 2014;Liuzza et al 2013;Adaldo et al 2014;Zhu et al 2014;Fan et al 2013;Li et al 2015;Gao et al 2014;Zhou et al 2015a). In Dimarogonas et al (2012), the authors studied the event-triggered consensus of multiagent systems with undirected communication topology.…”

“…A limitation of the event-control law proposed in Dimarogonas et al (2012) is that it requires continuous communication between neighboring nodes to constantly monitor whether the designed events occur or not. In Almeida et al (2014), Liuzza et al (2013), Adaldo et al (2014Adaldo et al ( , 2015, the authors studied the event-triggered consensus of multiagent systems. A limitation of the event-control law proposed in Almeida et al (2014), Liuzza et al (2013) and Adaldo et al (2014Adaldo et al ( , 2015 is that their triggering threshold functions only depend on continuous-time nonincreasing threshold function, which is independent of the states of nodes.…”

“…In Almeida et al (2014), Liuzza et al (2013), Adaldo et al (2014Adaldo et al ( , 2015, the authors studied the event-triggered consensus of multiagent systems. A limitation of the event-control law proposed in Almeida et al (2014), Liuzza et al (2013) and Adaldo et al (2014Adaldo et al ( , 2015 is that their triggering threshold functions only depend on continuous-time nonincreasing threshold function, which is independent of the states of nodes. In Zhu et al (2014), the authors studied event-based consensus of general linear multi-agent systems.…”

“…However, the triggering function designed in Li et al (2015) still need to decouple the actual states of the nodes. Hence, we are eager to consider the synchronization problem of complex networks via distributed event-triggered diffusions, which has rarely been considered (Liuzza et al 2013;Adaldo et al 2014;Li et al 2015;Gao et al 2014;Zhou et al 2015a).…”