Event-Triggered Formation Control of a Generalized Multi-Agent System

Ryo Toyota, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages940-945
Number of pages6
ISBN (Electronic)9784907764609
DOIs
Publication statusPublished - 2018 Oct 15
Event57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 - Nara, Japan
Duration: 2018 Sep 112018 Sep 14

Other

Other57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
CountryJapan
CityNara
Period18/9/1118/9/14

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Keywords

  • Event-triggered control
  • Formation control
  • Multi-agent system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Instrumentation

Cite this

Toyota, R., & Namerikawa, T. (2018). Event-Triggered Formation Control of a Generalized Multi-Agent System. In 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 (pp. 940-945). [8492671] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2018.8492671