Event-triggered formation control of leader-follower multi-agent system for reducing the number of information transmission

Koya Nambo, Seiichiro Katsura

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

Abstract

This paper proposes a event-triggered formation control method for a leader-follower multi-agent system. The purpose of the multi-agent system is to add more function to the system by cooperative control of multi-robots. Research of multi-agent system is useful for society. Generally, in conventional research, each agent always need to communicate with neighbor agents. So, communication failure like as cross-talk is likely to occur. Furthermore, energy resource of robot is limited. So, it is necessary to save the energy. To solve this problem event-triggered control is researched. In these research, the control input is generated only transmitted information in triggered-time. On the other hand, in the proposed method, each agent estimate the trajectory of neighbor agents. When error between estimated and true trajectory become over the threshold, information is transmitted. By using the proposed method, it is expected to reduce the number of information transmission.

Original languageEnglish
Title of host publicationProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7269-7274
Number of pages6
Volume2017-January
ISBN (Electronic)9781538611272
DOIs
Publication statusPublished - 2017 Dec 15
Event43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
Duration: 2017 Oct 292017 Nov 1

Other

Other43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
CountryChina
CityBeijing
Period17/10/2917/11/1

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Control and Optimization
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

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  • Cite this

    Nambo, K., & Katsura, S. (2017). Event-triggered formation control of leader-follower multi-agent system for reducing the number of information transmission. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society (Vol. 2017-January, pp. 7269-7274). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2017.8217273