Affiliation:
1. Graduate School of System Informatics Kobe University Kobe Japan
Abstract
AbstractThis paper addresses the consensus problem of first‐order continuous‐time multi‐agent systems over undirected graphs. Each agent samples relative state measurements in a self‐triggered fashion and transmits the sum of the measurements to its neighbours. Moreover, we use finite‐level dynamic quantizers and apply the zooming‐in technique. The proposed joint design method for quantization and self‐triggered sampling achieves asymptotic consensus, and inter‐event times are strictly positive. Sampling times are determined explicitly with iterative procedures including the computation of the Lambert W‐function. A simulation example is provided to illustrate the effectiveness of the proposed method.
Funder
Japan Society for the Promotion of Science
Publisher
Institution of Engineering and Technology (IET)
Subject
Electrical and Electronic Engineering,Control and Optimization,Computer Science Applications,Human-Computer Interaction,Control and Systems Engineering
Reference60 articles.
1. Information flow and cooperative control of vehicle formations;Fax J.A.;IEEE Trans. Autom. Control,2004
2. Olfati‐Saber R. Shamma J.S.:Consensus filters for sensor networks and distributed sensor fusion. In:Proceedings of the 44th IEEE Conference Decision and Control pp.6698–6703.IEEE Piscataway NJ(2005)
3. Consensus problems in networks of agents with switching topology and time‐delays;Olfati‐Saber R.;IEEE Trans. Autom. Control,2004
4. Consensus and cooperation in networked multi‐agent systems;Olfati‐Saber R.;Proc. IEEE,2007
5. On the control of multi‐agent systems: a survey;Chen F.;Found Trends Syst. Control,2019