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Event/Self-Triggered Consensus Control of Multiagent Systems With Undesirable Sensor Signals.

Jianan Wang, Chunyan Wang, Dandan Wang

IEEE Transactions on Cybernetics

|October 29, 2020

Summary

This study introduces event-triggered consensus control for multiagent systems, enhancing robustness against sensor faults. Novel self-triggered protocols are developed, ensuring stability and preventing Zeno behavior for reliable system operation.

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Area of Science:

Control Systems Engineering
Distributed Systems
Robotics

Background:

Multiagent systems require robust control strategies to handle sensor faults and noise.
Existing consensus protocols often demand continuous communication and monitoring, which is inefficient.
Event-triggered and self-triggered control offer potential for reduced communication load.

Purpose of the Study:

To develop event-triggered consensus control for multiagent systems resilient to sensor faults.
To design novel self-triggered consensus protocols that eliminate continuous monitoring and communication.
To ensure stability and exclude Zeno behavior in the proposed control strategies.

Main Methods:

A descriptor state observer with low-pass filtering was designed for each agent.
Nonsingular suppression matrices were used to reduce estimation error convergence regions.
Leader-follower event-triggered and self-triggered consensus protocols were designed using Lyapunov analysis and the Jordan form of the Laplacian matrix.

Main Results:

The proposed observer effectively estimates agent states despite sensor faults or noises.
Stability conditions for consensus were derived, guaranteeing system convergence.
Self-triggered protocols were shown to have a triggering interval greater than zero, avoiding Zeno behavior.

Conclusions:

The developed event-triggered and self-triggered consensus control strategies are effective for multiagent systems.
The proposed methods enhance system robustness against sensor imperfections.
The exclusion of Zeno behavior and continuous communication requirements demonstrate practical applicability.