NDLI: Event-based consensus with relative state measurements

Content Provider	IEEE Xplore Digital Library
Author	Wang Yilin Yu Shuanghe Long Xiaojun Jin Lina
Copyright Year	2014
Description	Author affiliation: Sch. of Inf. Sci. & Technol., Dalian Maritime Univ., Dalian, China (Wang Yilin; Yu Shuanghe; Long Xiaojun; Jin Lina)
Abstract	In this paper, the event-triggered consensus problem of multi-agent systems (MAS) is considered when only the relative state measurements are available. Some beneficial spectral properties of edge Laplacian matrix are first investigated for a connected undirected graph topology, then the event-triggered consensus problems are respectively formulated for the double integrator MAS under the edge dynamics. In particular, the distributed events depending on the edge state measurement errors with respect to the last triggered values are properly defined to achieve global asymptotic consensus in the Lyapunov sense. Furthermore, the positive lower bounds for inter-event times are derived to guarantee the absence of Zeno behavior. Compared with the existing works mainly on agent dynamics, less communication efforts and controller updates are needed for similar performance and the estimation of inter-event time is less conservative. Finally, simulation results are provided to demonstrate the effectiveness of the proposed approach.
Starting Page	1704
Ending Page	1709
File Size	151238
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896885
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	consensus Multi-agent relative state Laplace equations Protocols event-triggered Receivers Zeno behavior Eigenvalues and eigenfunctions Vectors Matrix decomposition Vehicle dynamics
Content Type	Text
Resource Type	Article

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