An input-based triggering approach to leader-following problems

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• 作者：Yuanqing Wu^a ; ^{yqwuzju@163.com}Author Vitae ; Xiangyu Meng^b ; ^{xmeng@ntu.edu.sg}Author Vitae ; Lihua Xie^b ; ^{elhxie@ntu.edu.sg}Author Vitae ; Renquan Lu^a ; ^{rqlu@gdut.edu.cn}Author Vitae ; Hongye Su^c ; ^{hysu@iipc.zju.edu.cn}Author Vitae ; Zheng-Guang Wu^c ; ^{nashwzhg@126.com}Author Vitae
• 关键词：Multi-agent systems ; Event triggered control ; Leader-following approach
• 刊名：Automatica
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：75
• 期：Complete
• 页码：221-228
• 全文大小：1020 K
• 卷排序：75

文摘

In this paper, an event-based leader-following strategy for synchronization of multi-agent systems (MASs) is considered. A model-based approach is adopted to predict the relative inter-node states between intermittent communications. The predicted values of the relative inter-node states are forwarded to the controller to calculate a piecewise continuous control signal. The communication between two linked agents is triggered according to a protocol based on their control inputs. The proposed leader-following strategy guarantees exponential state synchronization under time-dependent thresholds and bounded state synchronization under constant thresholds, respectively. Furthermore, the elapsed time between any two successive triggering instants for any pair of linked agents is lower bounded by a constant. The communication frequency reduction potential of the proposed leader-following strategy is well demonstrated via a numerical example.