Event‐triggered distributed constrained consensus |
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| Authors: | Shuai Liu Daniel E. Quevedo Lihua Xie |
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| Affiliation: | 1. School of Control Science and Engineering, Shandong University, Jinan, China;2. School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore;3. Department of Electrical Engineering (EIM‐E), Paderborn University, Paderborn, Germany |
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| Abstract: | We consider a distributed consensus problem for continuous‐time multi‐agent systems with set constraints on the final states. To save communication costs, an event‐triggered communication‐based protocol is proposed. By comparing its own instantaneous state with the one previously broadcasted to neighbours, each agent determines the next communication time. Based on this event‐triggered communication, each agent is not required to continuously monitor its neighbours' state and the communication only happens at discrete time instants. We show that, under some mild conditions, the constrained consensus of the multi‐agent system with the proposed protocol can be achieved with an exponential convergence rate. A lower bound of the transmission time intervals is provided that can be adjusted by choosing different values of parameters. Numerical examples illustrate the results. Copyright © 2016 John Wiley & Sons, Ltd. |
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| Keywords: | event‐triggered control constrained consensus distributed control multi‐agent systems |
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