Distributed event-triggered consensus protocols for discrete-time multiagent systems

2021 ◽  
Author(s):  
Bilal J Karaki ◽  
Magdi S Mahmoud
Keyword(s):  
Multiagent Systems ◽  
Discrete Time ◽  
Sufficient Conditions ◽  
Control Law ◽  
Theory Approach ◽  
Consensus Protocol ◽  
Leader Following ◽  
And Control ◽  
Time Linear ◽  
Event Triggered

Abstract This paper focuses on leader-following and leaderless consensus problems of discrete-time multiagent systems. A distributed observer-based consensus protocol is proposed to investigate the consensus problem for multiagent systems of general discrete-time linear dynamics. By means of the observer, the distributed control law of each agent is designed using local information to guarantee consensus, and the corresponding sufficient conditions are obtained by exploiting graph and control theory approach. A modified distributed event-triggered consensus protocol is designed to reduce communication congestion. Detailed analysis of the leaderless and the leader-following consensus is presented for both observer-based and full-information protocols. Finally, two simulation examples are provided to demonstrate the effectiveness and capabilities of the established theories.

scholarly journals Bipartite Consensus of Heterogeneous Multiagent Systems Based on Distributed Event-Triggered Control

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14 ◽  
Author(s):  
Xiaoyu Wang ◽  
Kaien Liu ◽  
Zhijian Ji ◽  
Shitao Han
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Input Delay ◽  
Consensus Problem ◽  
Consensus Protocol ◽  
Control Scheme ◽  
Event Triggering ◽  
Bipartite Consensus ◽  
Theoretical Results ◽  
Event Triggered

In this paper, the bipartite consensus problem of heterogeneous multiagent systems composed of first-order and second-order agents is considered by utilizing the event-triggered control scheme. Under structurally balanced directed topology, event-triggered bipartite consensus protocol is put forward, and event-triggering functions consisting of measurement error and threshold are designed. To exclude Zeno behavior, an exponential function is introduced in the threshold. The bipartite consensus problem is transformed into the corresponding stability problem by means of gauge transformation and model transformation. By virtue of Lyapunov method, sufficient conditions for systems without input delay are obtained to guarantee bipartite consensus. Furthermore, for the case with input delay, sufficient conditions which include an admissible upper bound of the delay are obtained to guarantee bipartite consensus. Finally, numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.

scholarly journals State Consensus Analysis and Design for High-Order Discrete-Time Linear Multiagent Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Yanrong Ge ◽  
Yangzhou Chen ◽  
Yaxiao Zhang ◽  
Zhonghe He
Keyword(s):  
Multiagent Systems ◽  
Discrete Time ◽  
The State ◽  
Feedback Gain ◽  
Consensus Problem ◽  
Consensus Protocol ◽  
Consensus Function ◽  
Consensus Analysis ◽  
Analysis And Design ◽  
Time Linear

The paper deals with the state consensus problem of high-order discrete-time linear multiagent systems (DLMASs) with fixed information topologies. We consider three aspects of the consensus analysis and design problem: (1) the convergence criteria of global state consensus, (2) the calculation of the state consensus function, and (3) the determination of the weighted matrix and the feedback gain matrix in the consensus protocol. We solve the consensus problem by proposing a linear transformation to translate it into a partial stability problem. Based on the approach, we obtain necessary and sufficient criteria in terms of Schur stability of matrices and present an analytical expression of the state consensus function. We also propose a design process to determine the feedback gain matrix in the consensus protocol. Finally, we extend the state consensus to the formation control. The results are explained by several numerical examples.

scholarly journals Leader-Following Consensus of Multiagent Systems with Time-Varying Delays via Impulsive Control

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Zhiyong Ye ◽  
Yungen Chen ◽  
Hua Zhang
Keyword(s):  
Multiagent Systems ◽  
Control Method ◽  
Impulsive Control ◽  
Sufficient Conditions ◽  
Time Varying ◽  
Distributed Consensus ◽  
Consensus Protocol ◽  
Sample Data ◽  
Leader Following ◽  
Discrete Moments

The leader-following consensus problem for delayed multiagent systems is investigated over stochastic switching topologies via impulsive control method. A distributed consensus protocol is proposed based on sample data information. The convergence analysis for such algorithm over undirected and directed networks is provided, and some sufficient conditions to guarantee the consensus are also established. It is shown that delayed networks can achieve consensus even information is exchanged among followers just at some discrete moments. At last, some numerical examples are given to illustrate the effectiveness of the proposed protocols.

scholarly journals Leader-Following Consensus Stability of Discrete-Time Linear Multiagent Systems with Observer-Based Protocols

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Bingbing Xu ◽  
Lixin Gao ◽  
Yan Zhang ◽  
Xiaole Xu
Keyword(s):  
Multiagent Systems ◽  
Discrete Time ◽  
Matrix Theory ◽  
Algebraic Riccati Equation ◽  
State Variables ◽  
Reduced Order ◽  
Communication Topology ◽  
Reduced Order Observer ◽  
Leader Following ◽  
Time Linear

We consider the leader-following consensus problem of discrete-time multiagent systems on a directed communication topology. Two types of distributed observer-based consensus protocols are considered to solve such a problem. The observers involved in the proposed protocols include full-order observer and reduced-order observer, which are used to reconstruct the state variables. Two algorithms are provided to construct the consensus protocols, which are based on the modified discrete-time algebraic Riccati equation and Sylvester equation. In light of graph and matrix theory, some consensus conditions are established. Finally, a numerical example is provided to illustrate the obtained result.

scholarly journals Distributed Consensus for Discrete-Time Directed Networks of Multiagents with Time-Delays and Random Communication Links

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Yurong Liu ◽  
Hamid Reza Karimi ◽  
Xiaohui Liu
Keyword(s):  
Multiagent Systems ◽  
Discrete Time ◽  
Time Delays ◽  
Sufficient Conditions ◽  
Analytical Techniques ◽  
Time Varying ◽  
Mean Square ◽  
Distributed Consensus ◽  
Communication Links ◽  
Leader Following

This paper is concerned with the leader-following consensus problem in mean-square for a class of discrete-time multiagent systems. The multiagent systems under consideration are the directed and contain arbitrary discrete time-delays. The communication links are assumed to be time-varying and stochastic. It is also assumed that some agents in the network are well informed and act as leaders, and the others are followers. By introducing novel Lyapunov functionals and employing some new analytical techniques, sufficient conditions are derived to guarantee the leader-following consensus in mean-square for the concerned multiagent systems, so that all the agents are steered to an anticipated state target. A numerical example is presented to illustrate the main results.

scholarly journals Stability and control synthesis for discrete-time linear systems subject to actuator saturation by output feedback

2006 ◽  
Vol 2006 ◽  
pp. 1-11 ◽  
Author(s):  
A. Benzaouia ◽  
F. Mesquine ◽  
A. Hmamed ◽  
H. Aoufoussi
Keyword(s):  
Asymptotic Stability ◽  
Linear Systems ◽  
Discrete Time ◽  
Output Feedback ◽  
Actuator Saturation ◽  
Linear Optimization ◽  
Sufficient Conditions ◽  
Control Synthesis ◽  
And Control ◽  
Time Linear

This paper presents sufficient conditions of asymptotic stability for discrete-time linear systems subject to actuator saturations with an output feedback law. The derived stability results are given in terms of LMIs. A new proof is presented to obtain previous conditions of asymptotic stability. A numerical example is used to illustrate this technique by using a linear optimization problem subject to LMI constraints.

scholarly journals Fully Distributed Consensus of Fractional Chaotic Multi-agent Systems Based on Combined Event-triggered Mechanism

2021 ◽  
Author(s):  
Qiaoping Li ◽  
Chao Yue
Keyword(s):  
Sufficient Conditions ◽  
Absolute Error ◽  
Control Technique ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent ◽  
Event Times ◽  
Event Triggered

By designing a novel combined event-triggered control technique, this article analytically studies the distributed leader-following consensus problem of nonlinear fractional chaotic multi-agent systems. First, a novel combined event-triggered mechanism which takes into account both the relative error and the absolute error of the samples is proposed, under which each follower agent executes control update independently at its own event times. Next, a fully distributed event-triggered consensus protocol is designed and the sufficient conditions of consensus are attained. Finally, compared with other event-triggered mechanisms, the simulation experiments illustrate that the event-based consensus protocol proposed in this article can effectively reduce the frequency of actuator data update while ensuring desired consensus performance.

scholarly journals Event-Based Consensus for General Linear Multiagent Systems under Switching Topologies

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Yinshuang Sun ◽  
Zhijian Ji ◽  
Kaien Liu
Keyword(s):  
Multiagent Systems ◽  
Control Strategies ◽  
Sufficient Conditions ◽  
General Linear ◽  
Control Input ◽  
Switching Topologies ◽  
Event Triggering ◽  
Leader Following ◽  
Fixed Topology ◽  
Event Triggered

In this paper, event-triggered leader-following consensus of general linear multiagent systems under both fixed topology and switching topologies is studied. First, centralised and decentralised event-triggered control strategies based on neighbors’ state estimation are proposed under fixed topology, in which the controller is only updated at the time of triggering. Obviously, compared with the continuous time control algorithms, the event-triggered control strategies can reduce the communication frequency among agents effectively. Meanwhile, event-triggering conditions are derived for systems to achieve consensus by using the Lyapunov stability theory and model transformation method. Then, the theoretical results obtained under the fixed topology are extended to the switching topologies, and the sufficient conditions for the system to achieve leader-following consensus under the switching topologies are given. However, different from fixed topology, the control input of each agent is updated both at event-triggering and topology switching time. Finally, Zeno behaviors can be excluded by proving that the minimum triggering interval of each agent is strictly positive, and the effectiveness of the event-triggered protocol is verified by simulation experiments.

scholarly journals Determination of positive realizations with reduced numbers of delays or without delays for discrete-time linear systems

2012 ◽  
Vol 22 (4) ◽  
pp. 451-465 ◽  
Author(s):  
Tadeusz Kaczorek
Keyword(s):  
Transfer Function ◽  
Linear Systems ◽  
Discrete Time ◽  
Sufficient Conditions ◽  
Diagram Method ◽  
State Variable ◽  
Discrete Time Systems ◽  
Time Systems ◽  
Time Linear

A new modified state variable diagram method is proposed for determination of positive realizations with reduced numbers of delays and without delays of linear discrete-time systems for a given transfer function. Sufficient conditions for the existence of the positive realizations of given proper transfer function are established. It is shown that there exists a positive realization with reduced numbers of delays if there exists a positive realization without delays but with greater dimension. The proposed methods are demonstrated on a numerical example.

Sign in / Sign up

Export Citation Format

Share Document