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Output event triggered consensus control of nonlinear multi-agent systems with relative state constraints
Jian Yang1, Hongjin Zhang2, Hongjun Chu3
1Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China.
ISA Transactions
|August 29, 2020
Summary
This study addresses consensus in nonlinear multi-agent systems (MASs) with relative state constraints. A novel output event-triggered control protocol ensures stability while avoiding Zeno behavior.
Area of Science:
- Control Theory
- Robotics
- Networked Systems
Background:
- Relative state constraints are common in multi-agent systems (MASs) due to sensor limitations.
- Achieving consensus under these constraints is a significant challenge in distributed control.
Purpose of the Study:
- To investigate the consensus problem for nonlinear MASs with relative state constraints.
- To develop a control protocol that guarantees system stability and constraint satisfaction.
Main Methods:
- The consensus problem is reformulated as an edge dynamics stabilization problem.
- The edge system is constrained within a hypercube to meet relative state requirements.
- An output event-triggered control protocol is designed for exponential stabilization.
Main Results:
- Sufficient conditions for system stability are established.
- Singular triggering and Zeno behavior are successfully excluded.
- A learning-based algorithm is proposed for calculating a crucial diagonally dominant matrix for controller design.
Conclusions:
- The proposed output event-triggered control protocol effectively stabilizes nonlinear MASs with relative state constraints.
- The edge perspective provides a novel framework for analyzing consensus problems.
- Numerical examples validate the effectiveness of the developed control strategy.
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