Distributed Self-triggered Control for Multi-agent Systems
Author(s)Dimarogonas, Dimos V.; Frazzoli, Emilio; Johansson, Karl H.
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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.
DepartmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics; Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
IEEE Conference on Decision and Control (CDC) 2010
Institute of Electrical and Electronic Engineers
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
Final published version
INSPEC Accession Number: 11848741