TY - GEN
T1 - Event-Triggered Formation Control of a Generalized Multi-Agent System
AU - Toyota, Ryo
AU - Namerikawa, Toru
N1 - Funding Information:
This work was supported by Technology Foundation of the R&D project “Design of Information and Communication Platform for Future Smart Community Services” by the Ministry of Internal Affairs and Communications of Japan.
Publisher Copyright:
© 2018 The Society of Instrument and Control Enginners - SICE.
PY - 2018/10/15
Y1 - 2018/10/15
N2 - In this paper, we propose an event-triggered formation control algorithm for a multi-agent system consists of linear discrete agents in order to reduce energy consumption due to unnecessary calculation and communication of agents. By using the event-triggered protocol, which updates the control input aperiodically only when certain triggering condition is satisfied, calculation and communication frequency are reduced. Also the multi-agent system is guaranteed an almost sure stability by determining the control input update timing by the triggering condition which is based on Lyapunov's stability theorem. Finally we verify the effectiveness of the proposed algorithm by numerical simulation.
AB - In this paper, we propose an event-triggered formation control algorithm for a multi-agent system consists of linear discrete agents in order to reduce energy consumption due to unnecessary calculation and communication of agents. By using the event-triggered protocol, which updates the control input aperiodically only when certain triggering condition is satisfied, calculation and communication frequency are reduced. Also the multi-agent system is guaranteed an almost sure stability by determining the control input update timing by the triggering condition which is based on Lyapunov's stability theorem. Finally we verify the effectiveness of the proposed algorithm by numerical simulation.
KW - Event-triggered control
KW - Formation control
KW - Multi-agent system
UR - http://www.scopus.com/inward/record.url?scp=85056698380&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85056698380&partnerID=8YFLogxK
U2 - 10.23919/SICE.2018.8492671
DO - 10.23919/SICE.2018.8492671
M3 - Conference contribution
AN - SCOPUS:85056698380
T3 - 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
SP - 940
EP - 945
BT - 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
Y2 - 11 September 2018 through 14 September 2018
ER -
