Distributed Self-triggered Control for Multi-agent Systems
Name
Frazzoli-2010-Distributed self-triggered control for multi-agent systems.pdf
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176.35 KB
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Author(s)
Dimarogonas, Dimos V.
Frazzoli, Emilio
Johansson, Karl H.
Date Issued
December 2010
Journal
IEEE Conference on Decision and Control (CDC) 2010
Publisher
Institute of Electrical and Electronic Engineers
Citation
Dimarogonas, Dimos V., Emilio Frazzoli, and Karl H. Johansson. “Distributed Self-triggered Control for Multi-agent Systems.” 49th IEEE Conference on Decision and Control (CDC). Atlanta, GA, USA, 2010. 6716-6721. Copyright © 2010, IEEE
Version
Final published version
Abstract
It is desirable to limit the amount of communication and computation generated by each agent in a large multi-agent system. Event- and self-triggered control strategies have been recently proposed as alternatives to traditional time-triggered periodic sampling for feedback control systems. In this paper we consider self-triggered control applied to a multi-agent system with an agreement objective. Each agent computes its next update time instance at the previous time. This formulation extends considerably our recent work on event-based control, because in the self-triggered setting the agents do not have to keep track of the state error that triggers the actuation between consecutive update instants. Both a centralized and a distributed self-triggered control architecture are presented and shown to achieve the agreement objective. The results are illustrated through simulated examples.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
https://doi.org/10.1109/CDC.2010.5717444
