Distributed Formation Control of Networked Multi-Agent Systems Using a Dynamic Event-Triggered Communication Mechanism
This paper addresses the distributed formation control problem of a networked multi-agent system (MAS) subject to limited communication resources. First, a dynamic event-triggered communication mechanism (DECM) is developed to schedule inter-agent communication such that some unnecessary data exchan...
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| Published in | IEEE transactions on industrial electronics (1982) Vol. 64; no. 10; pp. 8118 - 8127 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.10.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
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| Abstract | This paper addresses the distributed formation control problem of a networked multi-agent system (MAS) subject to limited communication resources. First, a dynamic event-triggered communication mechanism (DECM) is developed to schedule inter-agent communication such that some unnecessary data exchanges among agents can be reduced so as to achieve better resource efficiency. Different from most of the existing event-triggered communication mechanisms, wherein threshold parameters are fixed all the time, the threshold parameter in the developed event triggering condition is dynamically adjustable in accordance with a dynamic rule. It is numerically shown that the proposed DECM can achieve a better tradeoff between reducing inter-agent communication frequency and preserving an expected formation than some existing ones. Second, an event-triggered formation protocol is delicately proposed by using only locally triggered sampled data in a distributed manner. Based on the formation protocol, it is shown that the state formation control problem is cast into an asymptotic stability problem of a reduced-order closed-loop system. Then, criteria for designing desired formation protocol and communication mechanism are derived. Finally, the effectiveness and advantages of the proposed approach are demonstrated through a comparative study in multirobot formation control. |
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| AbstractList | This paper addresses the distributed formation control problem of a networked multi-agent system (MAS) subject to limited communication resources. First, a dynamic event-triggered communication mechanism (DECM) is developed to schedule inter-agent communication such that some unnecessary data exchanges among agents can be reduced so as to achieve better resource efficiency. Different from most of the existing event-triggered communication mechanisms, wherein threshold parameters are fixed all the time, the threshold parameter in the developed event triggering condition is dynamically adjustable in accordance with a dynamic rule. It is numerically shown that the proposed DECM can achieve a better tradeoff between reducing inter-agent communication frequency and preserving an expected formation than some existing ones. Second, an event-triggered formation protocol is delicately proposed by using only locally triggered sampled data in a distributed manner. Based on the formation protocol, it is shown that the state formation control problem is cast into an asymptotic stability problem of a reduced-order closed-loop system. Then, criteria for designing desired formation protocol and communication mechanism are derived. Finally, the effectiveness and advantages of the proposed approach are demonstrated through a comparative study in multirobot formation control. |
| Author | Xiaohua Ge Qing-Long Han |
| Author_xml | – sequence: 1 givenname: Xiaohua surname: Ge fullname: Ge, Xiaohua – sequence: 2 givenname: Qing-Long surname: Han fullname: Han, Qing-Long |
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| CODEN | ITIED6 |
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| SubjectTerms | Autonomous mobile robot Communication Communication networks Communications systems Comparative studies Control stability Data communication Dynamic scheduling dynamic threshold parameter event-triggered communication mechanism (ECM) Feedback control formation control Model reduction multi-agent system (MAS) Multi-agent systems Multiagent systems Multiple robots Parameters Protocols Schedules Symmetric matrices |
| Title | Distributed Formation Control of Networked Multi-Agent Systems Using a Dynamic Event-Triggered Communication Mechanism |
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