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Exponential Consensus of Multi-Agent Systems under Event-Triggered Impulsive Control with Actuation Delays
1School of Automation, Guangdong University of Technology, Guangzhou 510006, China.
Entropy (Basel, Switzerland)
|June 28, 2023
Summary
This study addresses exponential consensus in nonlinear leader-following multi-agent systems using event-triggered impulsive control. Actuation delays are analyzed, showing they hinder consensus but can enlarge triggering intervals.
Area of Science:
- Control Theory
- Systems Engineering
- Applied Mathematics
Background:
- Multi-agent systems (MAS) are crucial for distributed tasks.
- Achieving consensus (agreement) in MAS is a fundamental challenge.
- Impulsive control and event-triggered mechanisms offer efficient control strategies.
Purpose of the Study:
- Investigate exponential consensus in nonlinear leader-following MAS.
- Analyze the impact of event-triggered impulsive control with actuation delays.
- Develop conditions to guarantee exponential consensus while avoiding Zeno behavior.
Main Methods:
- Utilized event-triggered impulsive control for synchronization.
- Employed linear matrix inequality (LMI) techniques for analysis.
- Proved the avoidance of Zeno behavior (infinite impulses in finite time).
Main Results:
- Derived sufficient conditions for exponential consensus.
- Quantified the trade-off between actuation delay and consensus performance.
- Demonstrated that increased actuation delay enlarges the triggering interval but degrades consensus.
Conclusions:
- Event-triggered impulsive control is effective for achieving exponential consensus in MAS.
- Actuation delays significantly impact system performance and consensus.
- The LMI-based approach provides a robust framework for analyzing such systems.
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