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通信延时和数据丢包下事件驱动的多智能体系统一致性研究
Event-triggered consensus of multi-agent systems with data transmission delays and random packet dropouts
 [PDF]

崔彦良,费敏锐,杜大军,李慷
控制理论与应用 , 2015, DOI: 10.7641/CTA.2015.50264
Abstract: 本文研究受网络通信延时和数据随机丢包的多智能系统一致性问题, 探索事件驱动的分布式协同控制策略. 首先针对两类普遍应用的事件触发器, 提出了一个可用于选择触发策略的触发频率比较方法. 然后提出了分布式协同控制律以保证系统的渐近一致性, 并给出了相应的时滞依赖Markov切换控制器设计新方法. 本文所提的控制策略不仅保证系统一致性目标, 而且能显著减少通信数据传输量并降低控制器计算负担. 最后,通过仿真算例验证了所提方法的有效性。
This paper investigates the event-triggered consensus of multi-agent systems (MASs) with time delay and random packet dropout in data transmission. The event-triggered scheme is employed for broadcasting fewer necessary data to the neighbor agents through communication networks only when its threshold is violated. Based on prior topology information of the MASs, an approximate frequency comparison method is firstly proposed to choose the suitable one from two typical event-triggers. For guaranteeing the asymptotical consensus of MASs as well as enhancing system robustness against the communication drawbacks, a distributed Markov switching controller is designed. The sufficient delay depen- dent stability conditions are obtained and the corresponding controller design methods are subsequently presented. With the proposed strategy, it is shown that the amount of communication packages and the controller updates can be significantly reduced without introducing any significant negative effect on the consensus. Finally, the effectiveness of the proposed theoretical approach is validated through several numerical examples.
Decentralized Event-Triggered Consensus of Linear Multi-agent Systems under Directed Graphs  [PDF]
Eloy Garcia,Yongcan Cao,Xiaofeng Wang,David W. Casbeer
Mathematics , 2015,
Abstract: An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach shown here provides asymptotic consensus with guaranteed positive inter-event time intervals. This event-triggered control method is also used in the case where communication delays are present. For the communication delay case we also show that the agents achieve consensus asymptotically and that, for every agent, the time intervals between consecutive transmissions is lower-bounded by a positive constant.
Distributed Event-Triggered Control for Asymptotic Synchronization of Dynamical Networks  [PDF]
Tao Liu,Ming Cao,Claudio De Persis,Julien M. Hendrickx
Computer Science , 2015,
Abstract: This paper studies the synchronization problem of a dynamical network with event-based communication, where each node communicates to its neighbours only when an event-triggering condition is fulfilled. Firstly, two estimators are introduced into each node, one to estimate its own state, and the other to estimate the average state of its neighbours. Then, with the assistance of the two estimators, a distributed event-triggering rule with a dwell-time is designed such that the network achieves synchronization asymptotically, and meanwhile no Zeno behaviour occurs. The designed event-triggering rule only depends on the information that each node can obtain, and thus can be implemented in a decentralized way. The quantization effects are also considered, and the logarithmic quantizer is used to achieve asymptotic synchronization. Finally, numerical examples are given to show the effectiveness of the proposed results.
Synchronization in Networks of Linearly Coupled Dynamical Systems via Event-triggered Diffusions  [PDF]
Wenlian Lu,Yujuan Han,Tianping Chen
Physics , 2015,
Abstract: In this paper, we utilize event-triggered coupling configuration to realize synchronization of linearly coupled dynamical systems. Here, the diffusion couplings are set up from the latest observations of the nodes of its neighborhood and the next observation time is triggered by the proposed criteria based on the local neighborhood information as well. Two scenarios are considered: continuous monitoring, that each node can observe its neighborhood's instantaneous states, and discrete monitoring, that each node can only obtain its neighborhood's states at the same time point when the coupling term is triggered. In both cases, we prove that if the system with persistent coupling can synchronize, then these event-trigger coupling strategies can synchronize the system, too.
Distributed Event-triggered Consensus for Multi-agent Systems with Directed Topologies  [PDF]
Xinlei Yi,Wenlian Lu,Tianping Chen
Physics , 2014,
Abstract: In this paper, we study consensus problem in multi-agent system with directed topology by event-triggered feedback control. That is, at each agent, the diffusion coupling feedbacks are based on the information from its latest observations to its in-neighbours. We derive distributed criteria to determine the next observation time of each agent that are triggered by its in-neighbours' information and its own states respectively. We prove that if the network topology is irreducible, then under the event-triggered coupling principles, the multi-agent system reach consensus. Then, we extend these results to the case of reducible topology with spanning tree. In addition, these results are also extended to the case of self-triggered control, in terms that the next triggering time of each agent is computed based on the current states, i.e., without observing the system's states continuously. The effectiveness of the theoretical results are illustrated by numerical examples.
Event-triggered Consensus for Multi-agent Systems with Asymmetric and Reducible Topologies  [PDF]
Xinlei Yi,Wenlian Lu,Tianping Chen
Physics , 2014,
Abstract: This paper studies the consensus problem of multi-agent systems with asymmetric and reducible topologies. Centralized event-triggered rules are provided so as to reduce the frequency of system's updating. The diffusion coupling feedbacks of each agent are based on the latest observations from its in-neighbors and the system's next observation time is triggered by a criterion based on all agents' information. The scenario of continuous monitoring is first considered, namely all agents' instantaneous states can be observed. It is proved that if the network topology has a spanning tree, then the centralized event-triggered coupling strategy can realize consensus for the multi-agent system. Then the results are extended to discontinuous monitoring, where the system computes its next triggering time in advance without having to observe all agents' states continuously. Examples with numerical simulation are provided to show the effectiveness of the theoretical results.
Pull-Based Distributed Event-triggered Consensus for Multi-agent Systems with Directed Topologies  [PDF]
Xinlei Yi,Wenlian Lu,Tianping Chen
Physics , 2014,
Abstract: This paper mainly investigates consensus problem with pull-based event-triggered feedback control. For each agent, the diffusion coupling feedbacks are based on the states of its in-neighbors at its latest triggering time and the next triggering time of this agent is determined by its in-neighbors' information as well. The general directed topologies, including irreducible and reducible cases, are investigated. The scenario of distributed continuous monitoring is considered firstly, namely each agent can observe its in-neighbors' continuous states. It is proved that if the network topology has a spanning tree, then the event-triggered coupling strategy can realize consensus for the multi-agent system. Then the results are extended to discontinuous monitoring, i.e., self-triggered control, where each agent computes its next triggering time in advance without having to observe the system's states continuously. The effectiveness of the theoretical results are illustrated by a numerical example finally.
Event-Triggered Time Synchronization Algorithm for Sensor Networks
一种事件触发型传感器网络时钟同步算法*

WEI Nuo,GUO Zhong-wen,YANG Bin,GONG Zhao-jie,
魏诺
,郭忠文,杨彬,宫召杰

计算机应用研究 , 2006,
Abstract: By introducing the function and current research state of time synchronization,an event-triggered time synchronization algorithm is proposed,the simulation result indicates that the algorithm can save energy efficiently and prolong the life of networks.
多智能体系统的事件驱动控制
Event-triggered control for multi-agent systems
 [PDF]

张志强,王龙
控制理论与应用 , 2018, DOI: 10.7641/CTA.2018.70375
Abstract: 近年来事件驱动控制发展迅速, 并引起了多智能体系统领域研究者的极大关注. 本文对基于事件驱动控制 的多智能体系统的研究现状进行综述. 从智能体动力学角度, 分别对这个领域的一些代表性成果和研究方法进行 了归纳总结. 进一步, 论述了边事件驱动控制策略下的多智能体系统的研究成果. 随后, 利用一类新型事件驱动控 制来探讨多智能体系统的一致性问题. 最后, 给出了尚未解决的问题和未来值得关注的研究方向.
In recent years, event-triggered control has been developing rapidly with rich achievements, which attracts great attention from the field of multi-agent systems. This paper presents an overview of the state-of-the-art of eventtriggered control for multi-agent systems. Some representative results and methods in this field are summarized from the perspective of agent dynamics. Furthermore, some of the research achievements on edge-event driven control for multi-agent systems are presented. Then, we investigate the consensus problem of multi-agent systems based on a new event-triggered control method. Finally, some open problems and possible future research directions are proposed.
Event-Based Stabilization over Networks with Transmission Delays  [PDF]
Xiangyu Meng,Tongwen Chen
Journal of Control Science and Engineering , 2012, DOI: 10.1155/2012/212035
Abstract: This paper investigates asymptotic stabilization for linear systems over networks based on event-driven communication. A new communication logic is proposed to reduce the feedback effort, which has some advantages over traditional ones with continuous feedback. Considering the effect of time-varying transmission delays, the criteria for the design of both the feedback gain and the event-triggering mechanism are derived to guarantee the stability and performance requirements. Finally, the proposed techniques are illustrated by an inverted pendulum system and a numerical example. 1. Introduction Traditional control theory is built on the idea of perfect information flow from the sensor to the controller and from the controller to the actuator, that is, there is no delay and the transmitted signals are equal to received signals. However, this is not true for control loop closed over networks, where the actuators, sensors, and controllers are distributed in a wide geographical area, operating via some communication networks, such as DeviceNet, Ethernet, and FireWire, to name a few [1]. Because of the network uncertainties, data packets can be delayed, dropped, or reordered which make closed-loop control very difficult. Therefore, control over networks appears and has been drawing more and more attention in recent years from researchers working in the areas of systems and control [2–5]. A typical feature in the literature lies in the periodic execution of the control task due to the ease of analysis and design. However, the time synchronization problem presents a challenge in digital control applications when dealing with multiple sampling rates and systems with distributed computing devices; sampling jitter, time-varying delays, and coding errors introduced by networked distributed systems may degrade the performance or even cause closed-loop instability. On the other hand, periodic sampling only considers the system dynamics at every sampling instance triggered by a clock, and it does not take into account the constraints of both computer resources and communication bandwidth. Hence, the communication resources usage in this control scheme is inefficient. To relax the periodicity assumption, event triggering techniques are proposed. Various terms are used to express event-based sampling strategy: the level crossing sampling [6], the magnitude-driven sampling, and, sometimes, sampling in the amplitude domain, Lebsegue sampling [7]. In the sensor network community, the magnitude-driven or level crossing sampling is known as send-on-delta [8] or deadbands
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