Adaptive Event-triggered Cooperative Control of Uncertain Networked Systems. Issue 12 (2018)

• Record Type: Journal Article
• Authors: Garcia, Eloy; Weintraub, Isaac; Casbeer, David W.
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 12(2018)
• Page Start: 82
• Page End: 87
• Publication Date: 2018
• Subjects: Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.07.092
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Coordination and cooperation of networked multi-agent systems is usually constrained by dynamic and communication limitations. In this work we consider the problem of distributed leader following of heterogeneous and uncertain multi-agent systems. Each agent or subsystem implements a local and completely decentralized adaptive controller in order to compensate for the uncertainty on its system parameters. At the inter-agent communication level and due to the limitations on broadcasting continuous signals, each agent employs a decentralized event-triggered multi-agent system (MAS) controller which tracks the state of the leader and reduces broadcasting of information. Hence, the two layer controller architecture provides a useful framework for the multiple agents to follow the leader in the presence of system uncertainties and absence of continuous exchange of information.