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Self-Triggered Leader-Following Consensus for High-Order Nonlinear Multiagent Systems via Dynamic Output Feedback
IEEE Transactions on Cybernetics
|July 12, 2018
Summary
This study introduces event-based consensus protocols for nonlinear multiagent systems, reducing communication costs. The new protocols ensure agents achieve leader-following consensus efficiently using only relative output data.
Area of Science:
- Control Theory
- Systems Engineering
- Robotics
Background:
- Multiagent systems require coordination for complex tasks.
- High-order nonlinear systems with strict feedback pose control challenges.
- Event-based and self-triggered control aim to reduce communication overhead.
Purpose of the Study:
- To develop event-based leader-following consensus protocols for high-order nonlinear multiagent systems.
- To design protocols using dynamic output feedback and a self-triggered control scheme.
- To reduce communication costs by utilizing only relative output measurements.
Main Methods:
- Combined self-triggered control with dynamic output feedback.
- Developed distributed consensus protocols based on relative output measurements.
- Derived sufficient conditions using matrix inequalities for consensus.
Main Results:
- Proposed novel distributed self-triggered consensus protocols.
- Achieved significant reduction in communication costs.
- Guaranteed exponential leader-following consensus for the multiagent systems.
Conclusions:
- The proposed protocols effectively achieve leader-following consensus in complex systems.
- The event-based, self-triggered approach minimizes communication requirements.
- Simulation results validate the theoretical findings.
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