Event‐triggered control for bipartite consensus and formation of multiple wheeled mobile robots with non‐holonomic constraint

Abstract

This paper studies the event-triggered control scheme to tackle the position centroid bipartite consensus/formation problems of multiple wheeled mobile robots with non-holonomic constraint. Based on a reversible input conversion, the dynamics of the reference positions of robots are described as two teams of first-order integrators. The event-triggered control input and the event-triggering condition are constructed, ensuring that the position of each robot converges to the initial bipartite centroid location while their orientations and velocities reach some constants and zero, respectively. Moreover, we exclude the possibility of Zeno behavior. Subsequently, the proposed event-triggered control mechanism is expanded to drive all robots to meet at the expected geometric pattern centred at the initial bipartite centroid. At last, simulations are given to validate the effectiveness of the provided theoretical strategy.

Hybrid‐triggered scheme asynchronous control for hidden Markov jump systems with partially unknown probabilities and cyber attacks

“… The asynchronous controller taking into the attacker's information account is developed under the framework of the hidden Markov model, which means that it is more general and flexible than the synchronous [1, 6–8] or mode‐independent ones [4,5]. Compared with the time‐triggered/event‐triggered schemes [23–28], the hybrid‐triggered scheme used in this paper not only can maintain good performance but also save limited communication resources. Compared with the HMM used in [42–44], in which the conditional probability matrix (CPM) must be accurately known, a more generalized HMM is introduced in this paper, in which some elements need not be completely known. Therefore, such a model is more general. …”

“…Compared with the time‐triggered/event‐triggered schemes [23–28], the hybrid‐triggered scheme used in this paper not only can maintain good performance but also save limited communication resources.…”

“…However, due to the limited network resources and computation, the disadvantages of time-triggered scheme are becoming more and more prominent. In order to remedy the defect resulting from time-triggered scheme, some scholars have put forward event-triggered scheme [26][27][28], which appears with expect to improve the utilization of communication resources, and it provides an effective way to ensure that only "necessary data" can be sent through the network. The author in [29] proposed a novel event-triggered scheme; the main idea of this scheme is that the sensor will not release data to the network transmission until the previous released signal and the current sampled signal do not satisfy certain triggered conditions.…”

“…(1) The asynchronous controller taking into the attacker's information account is developed under the framework of the hidden Markov model, which means that it is more general and flexible than the synchronous [1,[6][7][8] or mode-independent ones [4,5]. (2) Compared with the time-triggered/event-triggered schemes [23][24][25][26][27][28], the hybrid-triggered scheme used in this paper not only can maintain good performance but also save limited communication resources.…”

Fault‐tolerant control of multi‐agent systems with input delay and sensor failure

“…can be used to solve the difficulty of modeling nonlinear systems. Due to its numerous benefits over asymptotical consensus, such as quicker convergence speed and higher disturbance rejection ability, we got considerable attention in the study of MASs [13][14][15][16][17][18]. Previous works are superior to those published in the literature based on the criteria obtained.…”