Periodic Event-Triggered Average Consensus over Directed Graphs
Soh, Yeng Chai
Pappas, George J.
Date of Issue2015
2015 IEEE 54th Annual Conference on Decision and Control (CDC)
School of Electrical and Electronic Engineering
This paper considers a multi-agent consensus problem over strongly connected and balanced directed graphs. Unlike many works that consider continuous or periodic communication and control strategies, we are interested in developing an event-triggered algorithm to reduce the overall load of the network in terms of limited communication and control updates. Furthermore, we focus on a sampled-data implementation that allows agents in a communication network to determine whether locally sampled information should be discarded or broadcasted to neighbors. This formulation allows us to automatically rule out Zeno behavior that is often a challenge in distributed event-triggered systems. We show that all agents eventually rendezvous at the centroid of their initial formation given an appropriate selection of the local sampling period and event-triggering parameters. We demonstrate the effectiveness of the proposed communication and control law through simulations.
Event Triggered Control
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