Coordinated Tracking Control With Asynchronous Edge-Based Event-Triggered Communications

• Published in: IEEE transactions on automatic control Vol. 64; no. 10; pp. 4321 - 4328
• Main Authors: Cheng, Bin, Li, Zhongkui
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Control systems; coordinated tracking; Eigenvalues; Eigenvalues and eigenfunctions; event-triggered control; fully distributed control; Laplace equations; Linear systems; Multi-agent systems; Multiagent systems; Network topologies; Network topology; Protocol (computers); Protocols; Tracking control; Upper bound; Upper bounds
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2019.2895927

This paper studies the distributed event-triggered tracking control problem of general linear multiagent systems with a dynamic leader, whose control input might be nonzero and unknown. The existence of the leader's unknown input renders the network heterogeneous and largely increases the difficulty of designing distributed event-based protocols. To solve this problem, we establish a novel asynchronous edge-based event-triggered mechanism, under which communication is not required from the leader to its out-neighbors (informed followers) or by the edge, unless the embedded triggering functions are triggered. Using this mechanism, we design a static asynchronous edge-based event-triggered protocol and an adaptive one, both of which guarantee the achievement of the leader-follower consensus and the exclusion of the Zeno behavior. Note that the adaptive event-based protocol is fully distributed, requiring no global information of the network topology, such as the network's scale, the smallest nonzero eigenvalue of the Laplacian matrix, and the upper bound of the leader's control input.