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Event-based broadcasting for multi-agent average consensus
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2013 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 49, no 1, p. 245-252Article in journal (Refereed) Published
Abstract [en]

A novel control strategy for multi-agent coordination with event-based broadcasting is presented. In particular, each agent decides itself when to transmit its current state to its neighbors and the local control laws are based on these sampled state measurements. Three scenarios are analyzed: Networks of singleintegrator agents with and without communication delays, and networks of double-integrator agents. The novel event-based scheduling strategy bounds each agent’s measurement error by a time-dependent threshold. For each scenario it is shown that the proposed control strategy guarantees either asymptotic convergence to average consensus or convergence to a ball centered at the average consensus. Moreover, it is shown that the inter-event intervals are lower-bounded by a positive constant. Numerical simulations show the effectiveness of the novel event-based control strategy and how it compares to time-scheduled control.

Place, publisher, year, edition, pages
Elsevier, 2013. Vol. 49, no 1, p. 245-252
Keywords [en]
Networked control systems, Event-based control, Cooperative control, Multi-agent systems, Consensus
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-111424DOI: 10.1016/j.automatica.2012.08.042ISI: 000313772600027Scopus ID: 2-s2.0-84871276347OAI: oai:DiVA.org:kth-111424DiVA, id: diva2:586206
Funder
Swedish Research CouncilEU, FP7, Seventh Framework ProgrammeKnut and Alice Wallenberg Foundation
Note

QC 20130131

Available from: 2013-01-31 Created: 2013-01-11 Last updated: 2017-12-06Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl Henrik

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