Distributed event-triggered consensus control for leaderless heterogeneous multiagent systems

In this paper, the consensus problem of heterogenous multi-agent systems (MASs) based on decentralized event-triggered is considered. The heterogeneous MASs proposed here is composed of two different dynamics: first-order integrator agents and second-order integrator agents. In order to alleviate th...

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Bibliographic Details
Published inJournal of the Franklin Institute Vol. 357; no. 6; pp. 3219 - 3234
Main Authors Shi, Yanna, Yan, Huaicheng, Chen, Shiming, Zhan, Xisheng, He, Liang
Format Journal Article
LanguageEnglish
Published Elmsford Elsevier Ltd 01.04.2020
Elsevier Science Ltd
Subjects
Communication
Controllers
Energy consumption
Graph theory
Multiagent systems
Numerical analysis
Studies
Topology
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Summary:In this paper, the consensus problem of heterogenous multi-agent systems (MASs) based on decentralized event-triggered is considered. The heterogeneous MASs proposed here is composed of two different dynamics: first-order integrator agents and second-order integrator agents. In order to alleviate the energy consumption of updating the control input, a decentralized event-triggered scheme is adopted. Each agent can decide its own triggering time sequence based on the communicating information from its neighbor agents and update its control input agreement according to its corresponding event time. Based on Lyapunov functional method and algebraic graph theory, some novel sufficient conditions are derived to ensure the consensus of heterogeneous MASs and the Zeno behavior is also demonstrated to be excluded. Finally, a numerical example is presented to demonstrate the results of the decentralized event-triggered consensus control.
ISSN:0016-0032
1879-2693
0016-0032
DOI:10.1016/j.jfranklin.2019.09.044