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Distributed self-triggered control for multi-agent systems
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2010 (English)Conference paper (Refereed)
Abstract [en]

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.
Keyword [en]
Control design, Distributed control, Laplace equations, Measurement errors, Multiagent systems, Upper bound
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-79952DOI: 10.1109/CDC.2010.5717444ScopusID: 2-s2.0-79953146758ISBN: 978-1-4244-7745-6OAI: diva2:495859
49th IEEE Conference on Decision and Control (CDC), 2010, Atlanta, GA, USA
© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120213Available from: 2012-02-13 Created: 2012-02-09 Last updated: 2012-02-13Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl Henrik
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