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Distributed self-triggered control for multi-agent systems
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-9940-5929
2010 (engelsk)Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

It is desirable to limit the amount of communication and computation generated by each agent in a large multi-agent system. Event- and self-triggered control strategies have been recently proposed as alternatives to traditional time-triggered periodic sampling for feedback control systems. In this paper we consider self-triggered control applied to a multi-agent system with an agreement objective. Each agent computes its next update time instance at the previous time. This formulation extends considerably our recent work on event-based control, because in the self-triggered setting the agents do not have to keep track of the state error that triggers the actuation between consecutive update instants. Both a centralized and a distributed self-triggered control architecture are presented and shown to achieve the agreement objective. The results are illustrated through simulated examples.

sted, utgiver, år, opplag, sider
IEEE , 2010. s. 6716-6721
Emneord [en]
Control design, Distributed control, Laplace equations, Measurement errors, Multiagent systems, Upper bound
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-79952DOI: 10.1109/CDC.2010.5717444Scopus ID: 2-s2.0-79953146758ISBN: 978-1-4244-7745-6 (tryckt)OAI: oai:DiVA.org:kth-79952DiVA, id: diva2:495859
Konferanse
49th IEEE Conference on Decision and Control (CDC), 2010, Atlanta, GA, USA
Merknad
© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120213Tilgjengelig fra: 2012-02-13 Laget: 2012-02-09 Sist oppdatert: 2012-02-13bibliografisk kontrollert

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