Distributed self-triggered control for multi-agent systems
2010 (English)Conference paper (Refereed)
It is desirable to limit the amount of communication and computation generated by each agent in a large multi-agent system. Event- and self-triggered control strategies have been recently proposed as alternatives to traditional time-triggered periodic sampling for feedback control systems. In this paper we consider self-triggered control applied to a multi-agent system with an agreement objective. Each agent computes its next update time instance at the previous time. This formulation extends considerably our recent work on event-based control, because in the self-triggered setting the agents do not have to keep track of the state error that triggers the actuation between consecutive update instants. Both a centralized and a distributed self-triggered control architecture are presented and shown to achieve the agreement objective. The results are illustrated through simulated examples.
Place, publisher, year, edition, pages
IEEE , 2010. 6716-6721 p.
Control design, Distributed control, Laplace equations, Measurement errors, Multiagent systems, Upper bound
IdentifiersURN: urn:nbn:se:kth:diva-79952DOI: 10.1109/CDC.2010.5717444ScopusID: 2-s2.0-79953146758ISBN: 978-1-4244-7745-6OAI: oai:DiVA.org:kth-79952DiVA: diva2:495859
49th IEEE Conference on Decision and Control (CDC), 2010, Atlanta, GA, USA
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QC 201202132012-02-132012-02-092012-02-13Bibliographically approved