Nonlinear consensus via continuous, sampled, and aperiodic updates
2013 (English)In: International Journal of Control, ISSN 0020-7179, E-ISSN 1366-5820, Vol. 86, no 4, 567-578 p.Article in journal (Refereed) Published
We consider a first-order multi-agent system with nonlinear control protocols performing consensus. We first address the convergence properties of the continuous system. Then periodically sampled control inputs are treated, where we derive explicit upper bounds on the sampling interval to preserve global stability. Moreover, we design an aperiodic and event-triggered updating law to reduce the control efforts even further while ensuring the closed-loop stability and providing a strictly positive lower bound on the inter-execution time. Finally, the robustness of this approach with respect to additive disturbances is examined by applying L-2 gain analysis.
Place, publisher, year, edition, pages
Taylor & Francis, 2013. Vol. 86, no 4, 567-578 p.
multi-agent consensus, nonlinear system, sampled control, event-triggered control, 2 stability
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-117686DOI: 10.1080/00207179.2012.747735ISI: 000317283000001ScopusID: 2-s2.0-84876152409OAI: oai:DiVA.org:kth-117686DiVA: diva2:602449
FunderSwedish Research Council, 2009-3948
QC 201302112013-02-012013-02-012013-06-04Bibliographically approved