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Control of Multi-Agent Systems with Event-Triggered Cloud Access
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. (Automatic Control)ORCID iD: 0000-0002-5299-097X
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9940-5929
2015 (English)In: Proceedings of the 14th annual European Control Conference, IEEE, 2015, p. 954-961Conference paper, Published paper (Refereed)
Abstract [en]

This paper investigates a multi-agent formation control problem with event-triggered control updates and additive disturbances. The agents communicate only by exchanging information in a cloud repository. The communication with the cloud is considered a shared and limited resource, and therefore it is used intermittently and asynchronously by the agents. The proposed approach takes advantage of having a shared asynchronous cloud support while guaranteeing a reduced number of communication. More in detail, each agent schedules its own sequence of cloud accesses in order to achieve a coordinated network goal. A control law is given with a criterion for scheduling the control updates recursively. The closed loop scheme is proven to be effective in achieving the control objective and a numerical simulation corroborates the theoretical results.

Place, publisher, year, edition, pages
IEEE, 2015. p. 954-961
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-164280DOI: 10.1109/ECC.2015.7330665ISI: 000380485400149Scopus ID: 2-s2.0-84963831911ISBN: 9783952426937 (print)OAI: oai:DiVA.org:kth-164280DiVA, id: diva2:805178
Conference
European Control Conference, ECC 2015, 15 July 2015 through 17 July 2015,Linz, AUSTRIA
Note

QC 20150419

Available from: 2015-04-14 Created: 2015-04-14 Last updated: 2024-03-18Bibliographically approved

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Adaldo, AntonioLiuzza, DavideDimarogonas, Dimos V.Johansson, Karl Henrik

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