scholarly journals Distributed Event-Triggered Circle Formation Control for Multiagent Systems with Nonuniform Quantization

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Jiayan Wen ◽  
Haijiang Zhang ◽  
Guangxing Tan ◽  
Ning Cai ◽  
Guangming Xie
Keyword(s):  
Multiagent Systems ◽  
Communication Technology ◽  
Formation Control ◽  
Nearest Neighbor ◽  
Sufficient Conditions ◽  
Angular Distance ◽  
Communication Framework ◽  
Uniform Quantization ◽  
Circle Formation ◽  
Event Triggered

This article focuses on circle formation control problem of multiagent systems based on event-triggered strategy under limited communication bandwidth. In such system, each agent can only perceive the angular distance of its nearest neighbor in the counterclockwise direction, and the angular distance of the nearest neighbor in the clockwise direction needs to be obtained by communicating with each other. In order to address the aforementioned problem, a novel distributed algorithm based on the combination of nonuniform quantitative communication technology and event-triggered control is proposed. Sufficient conditions on circle formation control are derived under which the states of all agents can be confirmed to converge to some desired equilibrium point. Different from the traditional uniform quantization communication framework, nonuniform quantization can be beneficial for handling small signals and improving the performance of multiagent systems concerned. Furthermore, under the proposed policy, all the designed quantizers do not emerge saturated. Numerical simulation results are provided to verify the effectiveness of the proposed algorithm.

scholarly journals Observer-Based Event-Triggered Circle Formation Control for First- and Second-Order Multiagent Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-12 ◽  
Author(s):  
Peng Xu ◽  
Guangming Xie ◽  
Jin Tao ◽  
Minyi Xu ◽  
Quan Zhou
Keyword(s):  
Multiagent Systems ◽  
Measurement Errors ◽  
Formation Control ◽  
Sufficient Conditions ◽  
Second Order ◽  
State Function ◽  
Control Laws ◽  
Interevent Interval ◽  
Circle Formation ◽  
Event Triggered

This paper proposes an observer-based event-triggered algorithm to solve circle formation control problems for both first- and second-order multiagent systems, where the communication topology is modeled by a spanning tree-based directed graph with limited resources. In particular, the observation-based event-triggering mechanism is used to reduce the update frequency of the controller, and the triggering time depends on the norm of the state function and the trigger threshold of measurement errors. The analysis shows that sufficient conditions are established for achieving the desired circle formation, while there exists at least one agent for which the next interevent interval is strictly positive. Numerical simulations of both first- and second-order multiagent systems are also given to demonstrate the effectiveness of the proposed control laws.

Decentralized event‐triggered circle formation control for multiagent systems via synchronous periodic event detection

2019 ◽  
Vol 30 (3) ◽  
pp. 910-925
Author(s):  
Jiayan Wen ◽  
Chen Wang ◽  
Peng Xu ◽  
Guangming Xie
Keyword(s):  
Multiagent Systems ◽  
Event Detection ◽  
Formation Control ◽  
Circle Formation ◽  
Event Triggered

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.

Event-triggered circle formation control of multi-agent systems

2014 ◽  
Author(s):  
Hangfei Wang ◽  
Mei Yu ◽  
Guangming Xie ◽  
Hong Shi
Keyword(s):  
Formation Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Circle Formation ◽  
Event Triggered

scholarly journals Event-Triggered Average Consensus for Multiagent Systems with Time-Varying Delay

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Zhaoxia Wang ◽  
Minrui Fei ◽  
Dajun Du ◽  
Lili Shang
Keyword(s):  
Multiagent Systems ◽  
Undirected Graph ◽  
Sufficient Conditions ◽  
Time Varying ◽  
Time Varying Delay ◽  
Systems Model ◽  
Average Consensus ◽  
Network Load ◽  
Varying Delay ◽  
Event Triggered

The paper investigates average consensus for multiagent systems with time-varying delay. A reducing dimension multiagent systems model is presented firstly. Using event-triggered mechanism to reduce network load, a comprehensive model is then proposed, which considers communication delay and triggered issue. Furthermore, the event-triggered average consensus stability of multiagent systems with fixed directed/undirected graph is analyzed, and sufficient conditions are provided. Moreover, the upper bound of time-varying delay can be obtained conveniently. Finally, simulation results confirm the feasibility and effectiveness of the proposed method.

scholarly journals Event-Triggered Multitarget Formation Control for Multiagent Systems

2017 ◽  
Vol 2017 ◽  
pp. 1-8 ◽  
Author(s):  
Lingmin Zhang ◽  
Xinbin Li ◽  
Jing Yan ◽  
Xinping Guan
Keyword(s):  
Multiagent Systems ◽  
Formation Control ◽  
Simulation Experiment ◽  
Selection Method ◽  
Auction Algorithm ◽  
Communication Links ◽  
Simulation Results ◽  
Event Triggered

The problems of multitarget selection and formation for multiagent systems are considered. First of all, an improved multitarget selection method based on auction algorithm is proposed such that each agent can automatically choose its target, and during the process of choosing targets, we apply an event-triggered mode to reduce the communication links between agents. Second, in view of the fact that all agents with the same target need to form a desired formation shape, we provide an event-triggered formation controller for each agent. Finally, we carry out the simulation experiment of the algorithm and the simulation results have illustrated the effectiveness of it.

scholarly journals Event-TriggeredH∞Filtering for Multiagent Systems with Markovian Switching Topologies

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Jiahao Li ◽  
Tingting Zhang ◽  
Jinfeng Gao ◽  
Ping Wu
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Markovian Switching ◽  
Linear Matrix ◽  
Switching Topologies ◽  
Communication Links ◽  
Inequality Technique ◽  
Error System ◽  
Linear Matrix Inequality Technique ◽  
Event Triggered

This paper is concerned with the problem of event-triggeredH∞filtering for multiagent systems with Markovian switching topologies and network-induced delay. An event-triggered mechanism is given to ease the information transmission. Consider that the network topology is directed in this paper, which represents the communication links among agents. Due to the existence of network-induced delay, the time-delay approach is adopted, which can effectively deal with filtering error system. By constructing a Lyapunov-Krasovskii functional and employing linear matrix inequality technique, sufficient conditions are established to ensure the filtering error system to achieve asymptotically stable withH∞performance index. A simulation example is given to illustrate the effectiveness of the proposed method.

Consensus Analysis and Formation Control of Second-Order Multiagent Systems Via Nonlinear Protocol

2013 ◽  
Vol 8 (3) ◽  
Author(s):  
Huan Pan ◽  
Xiaohong Nian ◽  
Ling Guo
Keyword(s):  
Multiagent Systems ◽  
Invariance Principle ◽  
Control Strategy ◽  
Formation Control ◽  
Multiagent System ◽  
Sufficient Conditions ◽  
Second Order ◽  
General Linear ◽  
Communication Graph ◽  
Consensus Analysis

This paper mainly investigates consensus and formation control of second-order multiagent system with undirected communication graph. A nonlinear protocol is proposed as an extension of general linear protocols that have been widely studied. In order to achieve formation control, a formation control strategy corresponding to the nonlinear protocol is designed too. The sufficient conditions of consensus and formation are derived based on LaSalle's invariance principle. Simulation examples are provided to illustrate that the second-order multiagent with the nonlinear protocol can achieve consensus and formation.

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