Periodic event‐triggered control for distributed networked multiagents with asynchronous communication: A predictive control approach

Abstract

Summary This paper investigates the periodic event‐triggered control problem for distributed networked multiagent systems with interconnected nonlinear dynamics subject to asynchronous communication. A method of state trajectory estimation for the interconnected neighboring agents over each prediction horizon with guaranteed error bounds is addressed to handle the asynchronous communication. Based on it, a distributed robust model predictive control (MPC) is proposed with a distributed periodic event‐triggered scheme for each agent. According to this algorithm, each subsystem generates presumed state trajectories for all its upstream neighbors and computes its own control locally. By checking the designed triggering condition periodically, the optimization problem of MPC will be implemented and solved when the local error of the subsystem exceeds a specified threshold. Then, the optimized control input will be determined and applied until the next time instant when the triggering condition is invoked. Moreover, sufficient condition for ensuring feasibility of the designed algorithm is conducted, along with the analysis of asymptotic stabilization of the closed‐loop system. The illustrative example for a set of coupled Van der Pol oscillators is reported to verify the effectiveness of the proposed approach.

Robust Output Regulation: Optimization-Based Synthesis and Event-Triggered Implementation

“…Besides, as pointed out in [16], the quadratic form (27) subsumes the relative event-triggered mechanism [40]. The extension of v(t j , t s ) by a constant 1 also allows us to capture the absolute event-triggered mechanism [50] and mixed event-triggered mechanism [8]. More specifically, when Q = Q(q 0 , q 1 ) where…”

Event-Driven Model Predictive Controller for State Constrained Systems: An Input Signal Reconstruction Method

“…The event-triggering instant sequences {t i }, k ∈ N, obtained via the triggering condition (15), meet inf k∈N (t i+1 − t i ) ≥ βν 1 .…”

“…The event-driven MPC issue for networked control system (NCS) with transmission delays in sensor-controller-actuator channel was studied in [14] and the authors showed that this strategy can significantly reduce the network communication cost without affecting the performance of NCS. A robust event-driven MPC algorithm for perturbed linear distributed systems with input and state constraints, was developed in [15], and the authors employed a tube-based MPC method to guarantee robust constraints on the system state. In [16], the authors investigated the periodic event-driven control issue of distributed networked systems with nonlinear dynamics with asynchronous communication.…”

Time‐triggered intermittent control of continuous systems

“…On the other hand, there exist some typical control techniques only using sampled data to realize feedback operations such as sampled‐data control (SC) in References 18‐21, event‐triggered control (ETC) in References 22‐25, and periodic event‐triggered control (PETC) in References 26,27. The time‐triggered mechanism of SC allows all the sampled data to be transmitted.…”