Periodic Event-Triggered Average Consensus over Directed Graphs
Soh, Yeng Chai
Pappas, George J.
Date of Issue2015-12-29
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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