線形マルチエージェントシステムのイベントトリガーおよびセルフトリガーフォーメーション制御

Translated title of the contribution: Event-triggered and self-triggered formation control of a linear multi-agent system

Ryo Toyota, Kento Kotani, Toru Namerikawa

Research output: Contribution to journalArticle

Abstract

In this paper, a distributed event-triggered formation control algorithm for a multi-agent system which consists of linear discrete-time agents is proposed. For agents to achieve a formation, it is necessary to communicate with each other to feedback their information. For communication, wireless communications are desirable for various tasks since wired networks can constrain their movement. Also, each agent have to observe their states from sensors. Those energy consumption due to unneecessary calculation and communication of agents may shorten battery life of agents. By using the event-triggered protocol, which updates the control input aperiodically only when certain triggering condition is satisfied, we aim to reduce those calculation and communication by reducing the input update frequency. Also the multi-agent system is guaranteed to achieve a formation by determining the triggering condition of the control input based on Lyapunov's stability theorem. At the end of the paper, the effectiveness of the proposed algorithm is verified by numerical simulation.

Translated title of the contributionEvent-triggered and self-triggered formation control of a linear multi-agent system
Original languageJapanese
Pages (from-to)303-311
Number of pages9
JournalIEEJ Transactions on Electronics, Information and Systems
Volume140
Issue number3
DOIs
Publication statusPublished - 2020 Jan 1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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