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

Ryo Toyota, Kento Kotani, Toru Namerikawa

研究成果: Article

抜粋

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.

寄稿の翻訳されたタイトルEvent-triggered and self-triggered formation control of a linear multi-agent system
元の言語Japanese
ページ(範囲)303-311
ページ数9
ジャーナルIEEJ Transactions on Electronics, Information and Systems
140
発行部数3
DOI
出版物ステータスPublished - 2020 1 1

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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