期刊
AUTOMATICA
卷 49, 期 1, 页码 245-252出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2012.08.042
关键词
Networked control systems; Event-based control; Cooperative control; Multi-agent systems; Consensus
资金
- Swedish Research Council (VR) [2009-3948]
- EU
- European 7th Framework Network of Excellence Highly-complex and networked control systems (HYCON2)
- Swedish Research Council
- Knut and Alice Wallenberg Foundation
A novel control strategy for multi-agent coordination with event-based broadcasting is presented. In particular, each agent decides itself when to transmit its current state to its neighbors and the local control laws are based on these sampled state measurements. Three scenarios are analyzed: Networks of single-integrator agents with and without communication delays, and networks of double-integrator agents. The novel event-based scheduling strategy bounds each agent's measurement error by a time-dependent threshold. For each scenario it is shown that the proposed control strategy guarantees either asymptotic convergence to average consensus or convergence to a ball centered at the average consensus. Moreover, it is shown that the inter-event intervals are lower-bounded by a positive constant. Numerical simulations show the effectiveness of the novel event-based control strategy and how it compares to time-scheduled control. (C) 2012 Elsevier Ltd. All rights reserved.
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