Decentralized event-triggered cooperative control for multi-agent systems with uncertain dynamics using local estimators
| Autor: | Liran Li, Jun Peng, Jing Wang, Zhiwu Huang, Yingze Yang, Feng Zhou |
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| Rok vydání: | 2017 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Dynamical systems theory Computer science Cognitive Neuroscience Multi-agent system 020208 electrical & electronic engineering Stability (learning theory) Estimator 02 engineering and technology computer.software_genre Computer Science Applications symbols.namesake 020901 industrial engineering & automation Artificial Intelligence Control theory 0202 electrical engineering electronic engineering information engineering symbols Data mining computer Event (probability theory) |
| Zdroj: | Neurocomputing. 237:388-396 |
| ISSN: | 0925-2312 |
| DOI: | 10.1016/j.neucom.2017.01.029 |
| Popis: | This paper presents a decentralized event triggered cooperative control design for uncertain multi-agent systems under limited communication resources. A local estimator is employed by each agent to generate self-state estimates. The estimated states are directly used in the consensus control design, and the estimator parameters are used in the event condition design. Once an event is triggered, the local estimator is repeatedly reset to its corresponding real state values, such that it can stabilize the uncertain dynamical systems without knowing the exact system model parameters. A theorem for this triggering condition is developed to provide stable thresholds that are robust to model uncertainties and guarantee the asymptotical stability by exploiting the M-matrix, algebraic graph theory and the Lyapunov method. It is rigorously proved that the overall system will achieve the consensus and has no zeno behavior under the introduced triggering condition. Simulation results are provided to show the effectiveness of the proposed decentralized event-triggered cooperative control strategy. |
| Databáze: | OpenAIRE |
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