Open AccessSelf‐triggered control for multi‐agent systems with unknown non‐linear inherent dynamics
Author(s) -
Defoort Michael,
Di Gennaro Stefano,
Djemai Mohamed
Publication year - 2014
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2013.0843
Subject(s) - spanning tree , control theory (sociology) , network topology , multi agent system , lyapunov function , computer science , computation , graph , graph theory , directed graph , control (management) , topology (electrical circuits) , mathematics , nonlinear system , theoretical computer science , algorithm , physics , combinatorics , artificial intelligence , quantum mechanics , operating system
This study focuses on the design of self‐triggered controls for first‐order multi‐agent systems with unknown inherent non‐linear dynamics. First, conditions that guarantee the existence of a self‐triggered control are provided to solve the consensus problem under fixed communication topologies if the graph has a directed spanning tree. Then, self‐triggered strategy under switching communication topologies is studied using polynomial approximations of multiple Lyapunov functions. A methodology for the computation of the feedback gain and the control update time is given. Simulation results show the effectiveness of the proposed strategy.