Distributed Self-triggered Control for Multi-agent Systems
It is desirable to limit the amount of communication and computation generated by each agent in a large multi-agent system. Event- and self-triggered control strategies have been recently proposed as alternatives to traditional time-triggered periodic sampling for feedback control systems. In this p...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronic Engineers
2011
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| Online Access: | http://hdl.handle.net/1721.1/65824 https://orcid.org/0000-0002-0505-1400 |
| Summary: | It is desirable to limit the amount of communication and computation generated by each agent in a large multi-agent system. Event- and self-triggered control strategies have been recently proposed as alternatives to traditional time-triggered periodic sampling for feedback control systems. In this paper we consider self-triggered control applied to a multi-agent system with an agreement objective. Each agent computes its next update time instance at the previous time. This formulation extends considerably our recent work on event-based control, because in the self-triggered setting the agents do not have to keep track of the state error that triggers the actuation between consecutive update instants. Both a centralized and a distributed self-triggered control architecture are presented and shown to achieve the agreement objective. The results are illustrated through simulated examples. |
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