Event-Triggered Consensus for Multi-Agent Systems with Guaranteed Robust Positive Minimum Inter-Event Times

V. S. Dolk; R. Postoyan; W. P.M.H. Heemels

doi:10.1109/CDC40024.2019.9029313

Event-Triggered Consensus for Multi-Agent Systems with Guaranteed Robust Positive Minimum Inter-Event Times

V. S. Dolk, R. Postoyan, W. P.M.H. Heemels

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

6 Citations (Scopus)

Abstract

We study consensus seeking single-integrator multi-agent systems equipped with packet-based communication channels. As the communication bandwidth of such channels is typically limited, it is essential to consider control schemes that lead to the desired performance while not overusing the communication resources. For this purpose, we propose a distributed dynamic event-triggered control scheme that results in aperiodic information exchange between agents, asymptotic consensus, strictly positive lower bounds on the inter-event times (strong Zeno-freeness) and robustness to unknown, non-uniform, and time-varying transmission delays. The proposed framework is such that the local control laws and event-triggering mechanisms can be directly obtained from the number of connected agents and local tuning parameters. The proposed design framework is therefore applicable to large-scale multi-agent systems.

Original language	English
Title of host publication	2019 IEEE 58th Conference on Decision and Control, CDC 2019
Publisher	Institute of Electrical and Electronics Engineers
Pages	2604-2609
Number of pages	6
ISBN (Electronic)	9781728113982
DOIs	https://doi.org/10.1109/CDC40024.2019.9029313
Publication status	Published - Dec 2019
Event	58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France, Nice, France Duration: 11 Dec 2019 → 13 Dec 2019 Conference number: 58 https://cdc2019.ieeecss.org/

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2019-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	58th IEEE Conference on Decision and Control, CDC 2019
Abbreviated title	CDC 2019
Country/Territory	France
City	Nice
Period	11/12/19 → 13/12/19
Internet address	https://cdc2019.ieeecss.org/

Access to Document

10.1109/CDC40024.2019.9029313

Cite this

Dolk, V. S., Postoyan, R., & Heemels, W. P. M. H. (2019). Event-Triggered Consensus for Multi-Agent Systems with Guaranteed Robust Positive Minimum Inter-Event Times. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 2604-2609). Article 9029313 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CDC40024.2019.9029313

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abstract = "We study consensus seeking single-integrator multi-agent systems equipped with packet-based communication channels. As the communication bandwidth of such channels is typically limited, it is essential to consider control schemes that lead to the desired performance while not overusing the communication resources. For this purpose, we propose a distributed dynamic event-triggered control scheme that results in aperiodic information exchange between agents, asymptotic consensus, strictly positive lower bounds on the inter-event times (strong Zeno-freeness) and robustness to unknown, non-uniform, and time-varying transmission delays. The proposed framework is such that the local control laws and event-triggering mechanisms can be directly obtained from the number of connected agents and local tuning parameters. The proposed design framework is therefore applicable to large-scale multi-agent systems.",

author = "Dolk, {V. S.} and R. Postoyan and Heemels, {W. P.M.H.}",

year = "2019",

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note = "58th IEEE Conference on Decision and Control, CDC 2019, CDC 2019 ; Conference date: 11-12-2019 Through 13-12-2019",

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Dolk, VS, Postoyan, R & Heemels, WPMH 2019, Event-Triggered Consensus for Multi-Agent Systems with Guaranteed Robust Positive Minimum Inter-Event Times. in 2019 IEEE 58th Conference on Decision and Control, CDC 2019., 9029313, Proceedings of the IEEE Conference on Decision and Control, vol. 2019-December, Institute of Electrical and Electronics Engineers, pp. 2604-2609, 58th IEEE Conference on Decision and Control, CDC 2019, Nice, France, 11/12/19. https://doi.org/10.1109/CDC40024.2019.9029313

Event-Triggered Consensus for Multi-Agent Systems with Guaranteed Robust Positive Minimum Inter-Event Times. / Dolk, V. S.; Postoyan, R.; Heemels, W. P.M.H.
2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers, 2019. p. 2604-2609 9029313 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Dolk VS, Postoyan R, Heemels WPMH. Event-Triggered Consensus for Multi-Agent Systems with Guaranteed Robust Positive Minimum Inter-Event Times. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers. 2019. p. 2604-2609. 9029313. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC40024.2019.9029313

Event-Triggered Consensus for Multi-Agent Systems with Guaranteed Robust Positive Minimum Inter-Event Times

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