Tracking consensus for uncertain nonlinear multi-agent systems under cloud-based event-triggered coordination
This paper considers the cloud-based event-triggered coordination problem of uncertain high-order nonlinear multi-agent systems. The communication among agents is realized by indirect and asynchronous access to a shared cloud database. A self-triggered extended state observer (ESO) is first designed...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/171224 |
| _version_ | 1824453630381522944 |
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| author | Hong, Shanshan Ran, Maopeng Xie, Lihua Zhang, Yu |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Hong, Shanshan Ran, Maopeng Xie, Lihua Zhang, Yu |
| author_sort | Hong, Shanshan |
| collection | NTU |
| description | This paper considers the cloud-based event-triggered coordination problem of uncertain high-order nonlinear multi-agent systems. The communication among agents is realized by indirect and asynchronous access to a shared cloud database. A self-triggered extended state observer (ESO) is first designed to estimate the total uncertainty. Based on the output of the ESO, an event-triggered controller is proposed. It is proved that under the proposed output feedback controller, the multi-agent system can track a virtual leader. We also show that Zeno behavior from output sampling or controller update will never happen. Finally, a numerical example and a vehicle platoon example are provided to corroborate the obtained theoretical results. |
| first_indexed | 2025-02-19T03:09:28Z |
| format | Journal Article |
| id | ntu-10356/171224 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:09:28Z |
| publishDate | 2023 |
| record_format | dspace |
| spelling | ntu-10356/1712242023-10-17T06:38:06Z Tracking consensus for uncertain nonlinear multi-agent systems under cloud-based event-triggered coordination Hong, Shanshan Ran, Maopeng Xie, Lihua Zhang, Yu School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Cloud-based Control Multi-agent Systems This paper considers the cloud-based event-triggered coordination problem of uncertain high-order nonlinear multi-agent systems. The communication among agents is realized by indirect and asynchronous access to a shared cloud database. A self-triggered extended state observer (ESO) is first designed to estimate the total uncertainty. Based on the output of the ESO, an event-triggered controller is proposed. It is proved that under the proposed output feedback controller, the multi-agent system can track a virtual leader. We also show that Zeno behavior from output sampling or controller update will never happen. Finally, a numerical example and a vehicle platoon example are provided to corroborate the obtained theoretical results. The first author would like to thank the China Scholarship Council (CSC) for financial support (CSC202006260121), Shanghai Municipal Science and Technology Major Project (2021SHZDZX0100) and Fundamental Research Funds for the Central Universities. 2023-10-17T06:38:05Z 2023-10-17T06:38:05Z 2023 Journal Article Hong, S., Ran, M., Xie, L. & Zhang, Y. (2023). Tracking consensus for uncertain nonlinear multi-agent systems under cloud-based event-triggered coordination. International Journal of Robust and Nonlinear Control, 33(16), 9881-9906. https://dx.doi.org/10.1002/rnc.6879 1049-8923 https://hdl.handle.net/10356/171224 10.1002/rnc.6879 2-s2.0-85164701237 16 33 9881 9906 en International Journal of Robust and Nonlinear Control © 2023 John Wiley & Sons Ltd. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Cloud-based Control Multi-agent Systems Hong, Shanshan Ran, Maopeng Xie, Lihua Zhang, Yu Tracking consensus for uncertain nonlinear multi-agent systems under cloud-based event-triggered coordination |
| title | Tracking consensus for uncertain nonlinear multi-agent systems under cloud-based event-triggered coordination |
| title_full | Tracking consensus for uncertain nonlinear multi-agent systems under cloud-based event-triggered coordination |
| title_fullStr | Tracking consensus for uncertain nonlinear multi-agent systems under cloud-based event-triggered coordination |
| title_full_unstemmed | Tracking consensus for uncertain nonlinear multi-agent systems under cloud-based event-triggered coordination |
| title_short | Tracking consensus for uncertain nonlinear multi-agent systems under cloud-based event-triggered coordination |
| title_sort | tracking consensus for uncertain nonlinear multi agent systems under cloud based event triggered coordination |
| topic | Engineering::Electrical and electronic engineering Cloud-based Control Multi-agent Systems |
| url | https://hdl.handle.net/10356/171224 |
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