Robust Dynamic Event-Triggered Coordination With a Designable Minimum Interevent Time

DOI10.1109/TAC.2020.3020809zbMATH Open1471.93172arXiv1903.04734OpenAlexW3082212421MaRDI QIDQ4957591FDOQ4957591

Authors: James Berneburg, C. Nowzari 

Publication date: 9 September 2021

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: This paper revisits the classical multi-agent average consensus problem for which many different event-triggered control strategies have been proposed over the last decade. Many of the earliest versions of these works conclude asymptotic stability without proving that Zeno behavior, or deadlocks, do not occur along the trajectories of the system. More recent works that resolve this issue either: (i) propose the use of a dwell-time that forces inter-event times to be lower-bounded away from zero but sacrifice asymptotic convergence in exchange for practical convergence (or convergence to a neighborhood); (ii) guarantee non-Zeno behaviors and asymptotic convergence but do not provide a positive minimum inter-event time guarantee; or (iii) are not fully distributed. Additionally, the overwhelming majority of these works provide no form of robustness analysis on the event-triggering strategy. More specifically, if arbitrarily small disturbances can remove the non-Zeno property then the theoretically correct algorithm may not actually be implementable. Instead, this work for the first time presents a fully distributed, robust, dynamic event-triggered algorithm, for general directed communication networks, for which a desired positive minimum inter-event time can be chosen by each agent in a distributed fashion. Simulations illustrate our results.

Full work available at URL: https://arxiv.org/abs/1903.04734

zbMATH Keywords

decentralized controldiscrete-event systemsnonlinear control systemsLyapunov methodsmultiagent systemsnetworked control systems

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Decentralized systems (93A14) Discrete event control/observation systems (93C65) Multi-agent systems (93A16) Consensus (93D50)

Cited In (14)

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• A robust hybrid triggered mechanism for consensus control of multi-agent systems under directed graphs
• Event-triggered attitude synchronization of multiple rigid body systems with velocity-free measurements
• Distributed secure formation control for autonomous surface vessels by performance adjustable event‐triggered mechanism
• Resilient self/event-triggered consensus based on ternary control
• Distributed observer based event‐triggered affine formation maneuver control for underactuated surface vessels with positive minimum inter‐event times
• Distributed dynamic event-triggered algorithm with positive minimum inter-event time for convex optimisation problem
• Dynamic event‐triggered consensus of multi‐agent systems under directed topology
• Dynamic Event-Triggered Leader-Follower Consensus Control for MultiAgent Systems
• Design of distributed adaptive event-triggered consensus control strategies with positive minimum inter-event times
• Fully distributed adaptive cooperative output regulation of heterogeneous multi-agent systems with hybrid event-triggering mechanism
• Dynamic event-triggered prescribed performance control for nonlinear systems with signal temporal logic
• Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators
• Distributed dynamic event-triggered algorithm with minimum inter-event time for multi-agent convex optimisation

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