Periodic event‐triggered consensus control for multi‐agent systems with switching jointly connected topologies. Issue 19 (17th February 2021)

• Record Type: Journal Article
• Authors: Sun, Jian; Wang, Zhanshan; Fan, Xiaofei
• Is Part Of: IET control theory & applications. Volume 14:Issue 19(2020)
• Page Start: 3282
• Page End: 3290
• Publication Date: 2021-02-17
• Subjects: multi‐robot systems -- eigenvalues and eigenfunctions -- Lyapunov methods -- multi‐agent systems -- linear systems -- delays; switching period -- event‐dependent discretised Lyapunov functions -- periodic event‐triggered consensus control -- multiagent systems -- jointly connected topologies -- consensus problem -- periodic event‐triggered control -- unstable system matrix -- control input -- periodic‐sampling time unit approach -- periodic event‐triggering control -- switching interval -- dwell time technique; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2019.1362
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : The consensus problem for a class of multi‐agent systems with switching jointly connected topologies via periodic event‐triggered control is studied. The distinguishing feature of such system is that the eigenvalues of system matrix can contain positive real parts. Due to the coexistence of unstable system matrix and disconnected topologies, the agents can diverge from each other across some periods even if the control input is imposed on them. To overcome this difficulty, a periodic‐sampling time unit (PSTU) approach is introduced to analyse the local convergence or divergence property within each sampling time unit based on the periodic event‐triggering control. Then the stabilisation property of switching behaviours is utilised to compensate the divergence within each switching interval via the dwell time technique. It is interesting to see that each switching period is considered to consist of finite number of PSTUs. Then by confining a pair of lower and upper bounds on the dwell time, the overall consensus can be reached. Further, a novel class of event‐dependent discretised Lyapunov functions are utilised to describe the error characteristics and computable conditions for the overall consensus can be derived. Finally, the effectiveness of the proposed result is illustrated by a numerical example.