Event-Triggered/Self-Triggered Leader-Following Control of Stochastic Nonlinear Multiagent Systems Using High-Gain Method

Li, Yafeng; Liu, Lu; Chen, Hua; Feng, Gang

doi:10.1109/tcyb.2019.2936413

Cited by 50 publications

(30 citation statements)

References 33 publications

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“…Corollary 1: For underactuated systems (2) with the switched network, if Assumptions 2 and 3 hold, the centralized sampled-data ETC algorithm, with centralized eventtriggered layer (19) and centralized communication layer (20), can address the asymptotic consensus and Zeno behavior problems.…”

Section: Further Results and Discussionmentioning

confidence: 99%

Event-Triggered Consensus Control for Networked Underactuated Robotic Systems

Yao

Park

Ding

et al. 2022

IEEE Trans. Cybern.

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In this article, the consensus of networked underactuated robotic systems subject to fixed and switched communication networks is discussed by developing some novel event-triggered control algorithms, which can synchronously guarantee the convergence of the active states, the boundedness of the velocities of passive actuators, and the exclusion of Zeno behaviors. In the cases of fixed networks, the sufficient criteria are established for the presented distributed event-triggered mechanisms with and without using neighbors' velocities, in order to achieve a better tradeoff between the communication load and system performance. Besides, in the situation of switched networks, the sufficient criterion is established by assuming that the union of the network has a spanning tree. A distributed sampled-data rule is constructed to decide when to update its own and neighbors' estimated positions, and thus further reduces the unnecessary control cost. Finally, by further extending the main results to three other sampled-data control algorithms, several examples with performance comparisons are provided to validate the efficiency and advantages of the theoretical results.

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Section: Further Results and Discussionmentioning

confidence: 99%

Event-Triggered Consensus Control for Networked Underactuated Robotic Systems

Yao

Park

Ding

et al. 2022

IEEE Trans. Cybern.

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“…Replace the uniform-quantization communication layer (5) in Theorem 1 with the logarithmic-quantization communication layer (16), and one obtains Theorem 2…”

Section: B Logarithmic-quantization Sampled-data Communicationmentioning

confidence: 99%

“…Proof: For cascade closed-loop system i1 , i2 , and i3 in (7), (16), and (9), it gives χ i (∞) = 0 n by the analysis of subsystem i1 . Then, consider function (12) for subsystem…”

Section: B Logarithmic-quantization Sampled-data Communicationmentioning

confidence: 99%

Coordination of a Class of Underactuated Systems via Sampled-Data-Based Event-Triggered Schemes

Yao

Park

Ding

et al. 2022

IEEE Trans. Syst. Man Cybern, Syst.

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This article investigates the coordination of a class of underactuated systems subject to limited energy supply and channel bandwidth and aims to stabilize system states and exclude Zeno behaviors simultaneously. First, by means of event-triggered (E-T) and quantized techniques, several novel quantized sampleddata-based E-T schemes are constructed, which only require discrete-time controller updates and partial quantized states, and thus efficiently mitigate the control and communication workloads. Then, in order to further lower the communication consumptions, several new triggered sampled-data-based communication rules under fixed and switched networks are established, where the communications are performed only at some specific instants and, thus, the ideally continuous-time signal transmission among neighbors can be avoided. Note that sufficient criteria for achieving the coordination of the underactuated systems are derived in terms of the Lyapunov-Krasovskii functional method. Finally, numerous simulations are carried out to demonstrate the effectiveness of the theoretical results. Index Terms-Event-triggered (E-T) control, quantized control, sampled-data control, switched networks, underactuated systems. I. INTRODUCTION T HE RESEARCH of underactuated systems has attracted a large amount of interests due to their favorable merits of lower energy consumption and higher operation flexibility comparing with fully actuated systems [1], [2]. Up to now, its various applications have been extensively investigated, for instance, aircrafts, robotic manipulators, mobile, and underwater vehicles [3], [4]. While, because of its intrinsic couplings of passive and active states, it cannot be directly synthesized Manuscript

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“…[31], the event‐triggered scheme was designed to achieve consensus in probability for the discrete‐time stochastic MAS. The leader‐following consensus problems were considered by using the event‐triggered and self‐triggered protocols for the stochastic MAS in [32]. And some sufficient conditions were provided by means of mathematical induction in [33] to realize the mean‐square consensus for stochastic discrete‐time MAS via the event‐triggered strategy.…”

Section: Introductionmentioning

confidence: 99%

Fully distributed event‐triggered protocols for stochastic multi‐agent systems

Ren

et al. 2022

IET Control Theory & Appl

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The event-based leaderless and leader-following consensus problems of stochastic multiagent systems (MAS) with state-dependent noises are investigated in the manuscript. The fully event-triggered control mechanism with combinational measurements is established, under which leaderless and leader-following consensus can achieve almost surely, respectively. With the help of the adaptive control strategy, the designed control schemes do not rely on the minimal nonzero eigenvalue of the Laplacian matrix of its communication network topology and the network's scale. The feasibility of the developed strategy is also ensured by excluding Zeno behavior. The validity of the fully distributed protocols is finally validated by some numerical simulations.

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Event-Triggered/Self-Triggered Leader-Following Control of Stochastic Nonlinear Multiagent Systems Using High-Gain Method

Cited by 50 publications

References 33 publications

Event-Triggered Consensus Control for Networked Underactuated Robotic Systems

Event-Triggered Consensus Control for Networked Underactuated Robotic Systems

Coordination of a Class of Underactuated Systems via Sampled-Data-Based Event-Triggered Schemes

Fully distributed event‐triggered protocols for stochastic multi‐agent systems

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