Event-Triggered Communication Mechanism for Distributed Flocking Control of Nonholonomic Multi-agent System

Xun, Weiwei; Wei, Yi; Liu, Xi; Yi, Xiaodong; Wang, Yanzhen

doi:10.1007/978-3-319-93818-9_6

Cited by 1 publication

(1 citation statement)

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“…In a large-scale real multi-agent control system, for example, in a workshop where a large number of manipulators are responsible for product processing, limited communication between the agents of the system will lead to insufficient communication bandwidth, that is, the problem of limited bandwidth in multiple manipulator communication scenarios. An event-triggered control scheme substantially reduces the amount of data transmission between agents such that the agents do not need to maintain the communication state continually but transmit data related to the control information at a specified trigger time to update the current control rate of each agent, [28][29][30][31] which greatly avoids the problem of communication channel congestion in large-scale agent cooperative control and can promote an intelligent system as a whole. Literatures 32,33 exploited partial-information-based consensus control mechanism and event-based control scheme to solve the computation complexity problem, respectively.…”

Section: Introductionmentioning

confidence: 99%

Distributed robust tracking control for multiple Euler–Lagrange systems with full‐state constraints and input saturation using an event‐triggered scheme

Liu

Tian

et al. 2021

Intl J Robust & Nonlinear

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In this article, distributed tracking control is studied for multiple Euler-Lagrange systems in the presence of external disturbances and input saturation. Specifically, full-state constraints, input saturation, communication delays, and unmeasured velocities are all considered simultaneously. First, a novel event-triggered scheme is developed to save the communication source and reduce computational load. Second, the anti-saturation compensation algorithm is exploited to compensate for system saturation.Third, an adaptive law is designed to offset external disturbances. Moreover, a high-gain observer is employed to estimate unmeasured velocities.Theorem analysis shows the stability of the closed-loop system, and numerical simulations are provided to verify the effectiveness of the proposed control strategy.

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Section: Introductionmentioning

confidence: 99%