A Modified Dynamic Event-Triggered Mechanism for Output Consensus of Heterogeneous MASs

Area of Science:

• Control Theory
• Multiagent Systems
• Robotics

Background:

• Output consensus is a critical challenge in heterogeneous multiagent systems (MASs).
• Existing control designs often require global information or continuous monitoring, leading to inefficiency.
• Resource-saving and robust control strategies are needed for practical MAS applications.

Purpose of the Study:

• To develop a distributed modified dynamic event-triggered control design for output consensus in heterogeneous MASs.
• To propose a fully distributed asynchronous event-triggered compensator acting as a virtual reference generator.
• To design a novel dynamic event-triggered mechanism (DETM) combined with a time-triggered mechanism (TTM) for efficient resource utilization and guaranteed consensus.

Main Methods:

• A fully distributed asynchronous event-triggered compensator is designed for each agent, eliminating the need for global information.
• A distributed event-triggered controller is developed based on the compensator to achieve output consensus among heterogeneous agents.
• A modified dynamic event-triggered mechanism (DETM) is proposed, integrating a time-triggered mechanism (TTM) to ensure minimum inter-event time and reduce redundant triggers. Triggering conditions are evaluated only when the TTM timer resets.

Main Results:

• The proposed control scheme analytically guarantees asymptotic output consensus for heterogeneous MASs.
• The modified DETM effectively saves communication and computational resources by avoiding continuous monitoring.
• Numerical simulations validate the analytical findings, demonstrating the effectiveness and feasibility of the proposed control design.

Conclusions:

• The developed distributed modified dynamic event-triggered control strategy successfully addresses the output consensus problem in heterogeneous MASs.
• The integration of TTM and DETM provides an efficient and robust solution for achieving consensus while minimizing resource usage.
• The proposed approach offers a practical framework for advanced control applications in distributed systems.