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Related Experiment Video

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Event-Based Multiagent Consensus Control: Zeno-Free Triggering via Lp Signals.

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    New event-triggered algorithms ensure Zeno-free distributed consensus in multiagent systems. These methods use local measurements and embedded Lp signals for efficient, less frequent agent updates, enhancing system performance.

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    Area of Science:

    • Control Theory
    • Distributed Systems
    • Robotics

    Background:

    • Achieving distributed consensus in multiagent systems is crucial for coordinated behavior.
    • Existing event-triggered algorithms can suffer from Zeno behavior (infinite triggering in finite time).
    • Continuous measurements in some systems limit practical implementation.

    Purpose of the Study:

    • To develop novel event-triggered and self-triggered algorithms for distributed consensus in multiagent systems.
    • To guarantee Zeno-free triggering for all agents, ensuring practical stability and performance.
    • To improve the efficiency of communication and computation by reducing triggering frequency.

    Main Methods:

    • Development of event-triggered algorithms incorporating a positive Lp signal function in event detectors.
    • Design of a Zeno-free self-triggered algorithm enabling discrete-time measurements.
    • Utilizing local measurements of relative states in a local coordinate frame for agent updates.

    Main Results:

    • The proposed algorithms guarantee fully Zeno-free triggerings for all agents.
    • The event-based consensus algorithms demonstrate less frequent triggered events compared to conventional methods without Lp signals.
    • Simulations validate the effectiveness and performance of the developed event-based consensus schemes.

    Conclusions:

    • The novel event-triggered and self-triggered algorithms effectively achieve distributed consensus in multiagent systems.
    • The inclusion of Lp signals and discrete-time measurements enhances robustness and efficiency.
    • The proposed methods offer a practical and performant solution for achieving Zeno-free consensus.