Pulse width modulation for multi-agent systems

This paper studies the consensus problem for multi-agent systems. A distributed consensus algorithm is developed by constructing homogeneous pulse width modulators for agents in the network. In particular, a certain percentage of the sampling period named duty cycle is modulated according to some st...

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Bibliographic Details
Published in:Automatica (Oxford) 2016-08, Vol.70, p.173-178
Main Authors: Meng, Xiangyu, Meng, Ziyang, Chen, Tongwen, Dimarogonas, Dimos V., Johansson, Karl Henrik
Format: Article
Language:English
Subjects:
Algorithms
Asymptotic properties
Consensus problems
Controllers
Counting circuits
Digital
Digital implementation
Distributed consensus
Duty-cycle
Modulation
Modulators
Multi agent systems
Multiagent systems
Pulse duration modulation
Pulse width modulation
Pulse width modulators
Sampled data control systems
Sampled-data control
Sampling
Sampling instants
Sampling period
Strategy
Voltage control
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Summary:This paper studies the consensus problem for multi-agent systems. A distributed consensus algorithm is developed by constructing homogeneous pulse width modulators for agents in the network. In particular, a certain percentage of the sampling period named duty cycle is modulated according to some state difference with respect to the neighbors at each sampling instant. During each duty cycle, the amplitude of the pulse is fixed. The proposed pulse width modulation scheme enables all agents to sample asynchronously with arbitrarily large sampling periods. It provides an alternative digital implementation strategy for multi-agent systems. We show that consensus is achieved asymptotically under the proposed scheme. The results are compared with the self-triggered ternary controller.
ISSN:0005-1098
1873-2836
1873-2836
DOI:10.1016/j.automatica.2016.03.012