Distributed Periodic Event-triggered Control of Nonlinear Multi-Agent Systems

We present a general emulation-based framework to address the distributed control of multi-agent systems over packet-based networks. We consider the setup where information is only transmitted at (non-uniform) sampling times and where packets are received with unknown delays. We design local dynamic...

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Bibliographic Details
Published in:arXiv.org 2022-05
Main Authors: Scheres, Koen J A, Dolk, Victor S, Chong, Michelle S, Postoyan, Romain, W P Maurice H Heemels
Format: Article
Language:English
Subjects:
Control systems
Event triggered control
Multiagent systems
Nonlinear control
Nonlinear systems
Sampling
Online Access:Get full text
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Summary:We present a general emulation-based framework to address the distributed control of multi-agent systems over packet-based networks. We consider the setup where information is only transmitted at (non-uniform) sampling times and where packets are received with unknown delays. We design local dynamic periodic event-triggering mechanisms to generate the transmissions. The triggering mechanisms can run on non-synchronized digital platforms, i.e., we ensure that the conditions must only be verified at asynchronous sampling times, which may differ for each platform. Different stability and performance characteristics can be considered as we follow a general dissipativity-based approach. Moreover, Zeno-free properties are guaranteed by design. The results are illustrated on a consensus problem.
ISSN:2331-8422