Previous Articles    

Event-Triggered Control for Multi-Agent Systems:Event Mechanisms for Information Transmission and Controller Update

LIU Pin1,2, XIAO Feng1,2, WEI Bo2   

  1. 1. State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources, North China Electric Power University, Beijing 102206, China; 2. School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, China
  • Received:2020-08-29 Revised:2021-01-13 Published:2022-06-20
  • Supported by:
    This research was supported by the National Natural Science Foundation of China under Grant No. 61973060 and the Science Center Program of National Natural Science Foundation of China under Grant No. 62188101.

LIU Pin, XIAO Feng, WEI Bo. Event-Triggered Control for Multi-Agent Systems:Event Mechanisms for Information Transmission and Controller Update[J]. Journal of Systems Science and Complexity, 2022, 35(3): 953-972.

This paper investigates the state consensus of linear multi-agent systems in a graph where each agent is equipped with two novel event-triggering mechanisms. Each agent utilizes them to avoid continuous information transmissions with its neighbors and to reduce the frequencies of controller updates, respectively. One of the event-triggering mechanisms defines a threshold of state errors by a constant plus a state-dependent variable. The other event-triggering mechanism introduces a period of rest time after each event. For each agent, both event-triggering mechanisms are fully distributed and are independent of any global information. The authors utilize a co-design approach to deal with the interplay between control gains and parameters in event-triggering mechanisms. With appropriate control gains in control laws and parameters in event-triggering conditions, subsystems employing discrete-time signals from neighbors and discrete-time signals from their controllers achieve the state consensus. Simulations are performed to illustrate the effectiveness of the proposed event-triggering mechanisms.
[1] Wang L and Xiao F, A new approach to consensus problems in discrete-time multiagent systems with time-delays, Science in China Series F:Information Sciences, 2007, 50(4):625-635.
[2] Yu J Y and Shi Y, Scaled group consensus in multiagent systems with first/second-order continuous dynamics, IEEE Transactions on Cybernetics, 2017, 48(8):2259-2271.
[3] Zheng Y S, Ma J Y, and Wang L, Consensus of hybrid multi-agent systems, IEEE Transactions on Neural Networks and Learning Systems, 2017, 29(4):1359-1365.
[4] Ji Z, Lin H, Cao S, et al., The complexity in complete graphic characterizations of multiagent controllability, IEEE Transactions on Cybernetics, 2021, 51(1):64-76.
[5] Ji Z J, Lin H, and Yu H S, Protocols design and uncontrollable topologies construction for multi-agent networks, IEEE Transactions on Automatic Control, 2014, 60(3):781-786.
[6] Liu S, Ji Z J, and Ma H Z, Jordan form-based algebraic conditions for controllability of multiagent systems under directed graphs, Complexity, 2020, 2020.
[7] Wei B, Xiao F, and Shi Y, Synchronization in Kuramoto oscillator networks with sampled-data updating law, IEEE Transactions on Cybernetics, 2020, 50(6):2380-2388.
[8] Sun Y G, Tian Y Z, and Xie X J, Stabilization of positive switched linear systems and its application in consensus of multiagent systems, IEEE Transactions on Automatic Control, 2017, 62(12):6608-6613.
[9] Tabuada P, Event-triggered real-time scheduling of stabilizing control tasks, IEEE Transactions on Automatic Control, 2007, 52(9):1680-1685.
[10] Liu X Y, Xuan Y B, Zhang Z Y, et al., Event-triggered consensus for discrete-time multi-agent systems with parameter uncertainties based on a predictive control scheme, Journal of Systems Science and Complexity, 2020, 33(3):706-724.
[11] Zhu W, Wang D D, and Zhou Q H, Leader-following consensus of multi-agent systems via adaptive event-based control, Journal of Systems Science and Complexity, 2019, 32(3):846-856.
[12] Sun Y S, Ji Z J, and Liu K, Event-based consensus for general linear multiagent systems under switching topologies, Complexity, 2020, 2020.
[13] Liu Z X, Chen Z Q, and Yuan Z Z, Event-triggered average-consensus of multi-agent systems with weighted and direct topology, Journal of Systems Science and Complexity, 2012, 25(5):845-855.
[14] Garcia E, Cao Y C, Yu H, et al., Decentralised event-triggered cooperative control with limited communication. International Journal of Control, 2013, 86(9):1479-1488.
[15] Nowzari C and Cortès J, Distributed event-triggered coordination for average consensus on weight-balanced digraphs, Automatica, 2016, 68:237-244.
[16] Garcia E, Cao Y C, and Casbeer D W, Periodic event-triggered synchronization of linear multiagent systems with communication delays, IEEE Transactions on Automatic Control, 2016, 62(1):366-371.
[17] Wang D D, Zhou Q H, and Zhu W, Adaptive event-based consensus of multi-agent systems with general linear dynamics, Journal of Systems Science and Complexity, 2018, 31(1):120-129.
[18] Duan D D and Zong G D, Exponential L1 filtering of networked linear switched systems:An event-triggered approach, Journal of Systems Science and Complexity, 2020, 33(2):383-400.
[19] Wang J, Shi L R, and Guan X P, Semi-global leaderless consensus of linear multi-agent systems with actuator and communication constraints, Journal of Systems Science and Complexity, 2020,33(4):882-902.
[20] Xiao F and Chen T W, Sampled-data consensus in multi-agent systems with asynchronous hybrid event-time driven interactions, Systems&Control Letters, 2016, 89:24-34.
[21] Xiao F, Shi Y, and Ren W, Robustness analysis of asynchronous sampled-data multiagent networks with time-varying delays, IEEE Transactions on Automatic Control, 2017, 63(7):2145-2152.
[22] You X, Hua C C, and Guan X P, Event-triggered leader-following consensus for nonlinear multiagent systems subject to actuator saturation using dynamic output feedback method, IEEE Transactions on Automatic Control, 2018, 63(12):4391-4396.
[23] Borgers D P and Heemels W M, Event-separation properties of event-triggered control systems, IEEE Transactions on Automatic Control, 2014, 59(10):2644-2656.
[24] Garcia E, Cao Y C, and Casbeer D W, Decentralized event-triggered consensus with general linear dynamics, Automatica, 2014, 50(10):2633-2640.
[25] Ghodrat M and Marquez H, Event-triggered design with guaranteed minimum interevent times and L p performance, IEEE Transactions on Automatic Control, 2020, 65(4):1668-1675.
[26] Ghodrat M and Marquez H J, On the event-triggered controller design, IEEE Transactions on Automatic Control, 2020, 65(10):4122-4137.
[27] Ghodrat M, Mousavi S H, de Ruiter A H J, et al., Dissipativity properties of nonlinear systems under network constraints, IEEE Transactions on Automatic Control, 2020, 65(6):2708-2715.
[28] Yu P and Dimarogonas D V, Explicit computation of sampling period in periodic event-triggered multi-agent control under limited data rate, IEEE Transactions on Control of Network Systems, 2018, 6(4):1366-1378.
[29] Fan Y, Liu L, Feng G, et al., Self-triggered consensus for multi-agent systems with zeno-free triggers, IEEE Transactions on Automatic Control, 2015, 60(10):2779-2784.
[30] Benïtez-Pèrez H, Ortega-Arjona J L, Mèndez-Monroy P E, et al., Control Strategies and CoDesign of Networked Control Systems:Considering Time Delay Effects, Volume 13, Springer, 2018.
[31] Godsil C and Royle G F, Algebraic Graph Theory, Volume 207, Springer Science&Business Media, New York, 2013.
[32] Li Z K, Duan Z S, Chen G R, et al., Consensus of multiagent systems and synchronization of complex networks:A unified viewpoint, IEEE Transactions on Circuits and Systems I:Regular Papers, 2009, 57(1):213-224.
[33] Olfati-Saber R, Fax J A, and Murray R M, Consensus and cooperation in networked multi-agent systems, Proceedings of the IEEE, 2007, 95(1):215-233.
[34] Feng W and Zhang J F, Input-to-state stability of switched nonlinear systems, Science China Information Sciences, 2008, 12(51):1992-2004.
[1] YANG Ruitian, PENG Li, YANG Yongqing, ZHAO Huarong. Scaled Bipartite Consensus Controller Design for Second-Order Multi-Agent Systems with Mixed Time-Delays [J]. Journal of Systems Science and Complexity, 2022, 35(3): 888-908.
[2] LIU Peng,TIAN Yu-Ping,ZHANG Ya. Leader Selection for Strong Structural Controllability of Single-Integrator Multi-Agent Systems [J]. Journal of Systems Science and Complexity, 2017, 30(6): 1227-1241.
[3] LIU Xiaoyu,SUN Jian,DOU Lihua,CHEN Jie. Leader-Following Consensus for Discrete-Time Multi-Agent Systems with Parameter Uncertainties Based on the Event-Triggered Strategy [J]. Journal of Systems Science and Complexity, 2017, 30(1): 30-45.
[4] WANG Pan,CHAI Lin,FEI Shumin. Semi-Global Stabilization via Homogeneous Output Feedback for a Class of Nonlinear Time-Delay Systems [J]. Journal of Systems Science and Complexity, 2016, 29(6): 1538-1552.
[5] LIU Wenhui,YANG Chunjie,SUN Youxian,QIN Jiaxiang. Observer-Based Event-Triggered Tracking Control of Leader-Follower Systems with Time Delay [J]. Journal of Systems Science and Complexity, 2016, 29(4): 865-880.
[6] ZHANG Fangfang,WANG Wei,ZHANG Huanshui. Distributed Design of Approximately Optimal Controller for Identical Discrete-Time Multi-Agent Systems [J]. Journal of Systems Science and Complexity, 2016, 29(3): 629-641.
[7] YANG Kunyi,REN Xiang,ZHANG Jie. Output Feedback Stabilization of an Unstable Wave Equation with Observations Subject to Time Delay [J]. Journal of Systems Science and Complexity, 2016, 29(1): 99-118.
[8] ZHANG Jiangbo, CHEN Ge. Convergence Rate of the Asymmetric Deffuant-Weisbuch Dynamics [J]. Journal of Systems Science and Complexity, 2015, 28(4): 773-787.
[9] SONG Wenjun,THUNBERG Johan, HU Xiaoming,HONG Yiguang. Distributed High-Gain Attitude Synchronization Using Rotation Vectors [J]. Journal of Systems Science and Complexity, 2015, 28(2): 289-304.
[10] CHEN Chen,CHEN Ge, GUO Lei. Consensus of Flocks under M-Nearest-Neighbor Rules [J]. Journal of Systems Science and Complexity, 2015, 28(1): 1-15.
[11] WANG Xinghu, JI Haibo, SHENG Jie. OUTPUT REGULATION PROBLEM FOR A CLASS OF SISO INFINITE DIMENSIONAL SYSTEMS VIA A FINITE DIMENSIONAL DYNAMIC CONTROL [J]. Journal of Systems Science and Complexity, 2014, 27(6): 1172-1191.
[12] LIU Xueliang , XU Bugong , XIE Lihua. DISTRIBUTED TRACKING CONTROL OF SECONDORDER MULTI-AGENT SYSTEMS UNDER MEASU-REMENT NOISES [J]. Journal of Systems Science and Complexity, 2014, 27(5): 853-865.
[13] WANG Le Yi, SYED Ali ,YIN Gang George, PANDYA Abhilash,ZHANG Hongwei. CONTROL OF VEHICLE PLATOONS FOR HIGHWY SAFETY AND EFFICIENT UTILITY: CONSENSUS WITH COMMUNICATIONS AND VEHICLE DYNAMICS [J]. Journal of Systems Science and Complexity, 2014, 27(4): 605-631.
[14] HU Hongxiang, ZHANG Zhe , YU Li , YU Wenwu , XIE Guangming. GROUP CONSENSUS FOR MULTIPLE NETWORKED EULER-LAGRANGE SYSTEMS WITH PARAMETRIC UNCERTAINTIES [J]. Journal of Systems Science and Complexity, 2014, 27(4): 632-649.
[15] WANG Jinhuan , LIU Zhixin,HU Xiaoming. CONSENSUS CONTROL DESIGN FOR MULTI-AGENT SYSTEMS USING RELATIVE OUTPUT FEEDBACK [J]. Journal of Systems Science and Complexity, 2014, 27(2): 237-251.
Viewed
Full text


Abstract