Open AccessEvent‐triggered consensus with guaranteed L 2 ‐gain in networks with directed topologies
Author(s) -
Noorbakhsh Seyed Mohammad,
Ghaisari Jafar
Publication year - 2017
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.2016.1566
Subject(s) - network topology , computer science , control theory (sociology) , event (particle physics) , controller (irrigation) , multi agent system , control (management) , actuator , consensus , constant (computer programming) , distributed computing , topology (electrical circuits) , engineering , computer network , artificial intelligence , physics , electrical engineering , quantum mechanics , agronomy , biology , programming language
The study addresses the consensus problem for multi‐agent systems (MASs) with directed topologies by proposing an event‐triggered control approach which can reduce the control input actuations, communication network usage and computing resources utilisation meanwhile maintains a desirable disturbance rejection performance. For each agent, a local event‐triggering mechanism (ETM) checks the violation of a pre‐designed triggering condition periodically to determine the triggering instants. Each agent broadcasts data to the neighbours whenever an event is triggered by its local ETM. Thereby, continuous‐time communications between agents are avoided. Besides, the event‐based control input of each agent is updated just at its own triggering instants and remains constant between trigger times which extends the lifespan of the agent actuators and facilitates more energy saving. It is further theoretically proved that the MAS with the proposed event‐based controller maintains a desirable finiteL 2 ‐gain performance index against the time‐varying external disturbances inL 2 ‐space. Illustrative examples are given to show the effectiveness of the proposed method.