Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems with a Designable Minimum Inter-Event Time
- Resource Type
- Periodical
- Authors
- Li, Meilin; Long, Yue; Li, Tieshan; Liang, Hongjing; Chen, C. L. Philip
- Source
- IEEE/CAA Journal of Automatica Sinica IEEE/CAA J. Autom. Sinica Automatica Sinica, IEEE/CAA Journal of. 11(3):649-660 Mar, 2024
- Subject
- Computing and Processing
Communication, Networking and Broadcast Technologies
General Topics for Engineers
Robotics and Control Systems
Consensus control
Protocols
Multi-agent systems
Topology
Actuators
Directed graphs
Costs
Constrained input
designable minimum inter-event time
directed communication topology
dynamic event-triggered mechanism
MASs consensus control
- Language
- ISSN
- 2329-9266
2329-9274
This paper investigates the consensus control of multi-agent systems (MASs) with constrained input using the dynamic event-triggered mechanism (ETM). Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed. Then, a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks. It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time. In addition, it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter. Furthermore, the results are extended to regional consensus of the MASs with the bounded control protocol. Numerical simulations show the effectiveness of the proposed approach.