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Event-triggered multi-agent coordination in directed graphs: An intermittent control approach.

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  • 1Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China.

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Summary
This summary is machine-generated.

This study introduces an event-triggered intermittent control strategy for multi-agent systems, reducing communication load and preventing Zeno behavior. The asynchronous, aperiodic approach enhances coordination efficiency without strict control period constraints.

Keywords:
Directed graphsEvent-triggered controlIntermittent controlMulti-agent coordination

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Area of Science:

  • Robotics and Control Systems
  • Networked Systems
  • Distributed Computing

Background:

  • Multi-agent coordination is crucial for complex tasks.
  • Existing intermittent control strategies often suffer from high communication burdens or conservatism.
  • Event-triggered mechanisms offer potential for communication efficiency.

Purpose of the Study:

  • To develop a communication-efficient event-triggered intermittent control strategy for multi-agent coordination.
  • To ensure a minimum time interval between control events, preventing Zeno behavior.
  • To reduce the conservatism associated with traditional intermittent control methods.

Main Methods:

  • Development of a novel event-triggering condition for intermittent control.
  • Mathematical analysis to establish a minimum time interval between events.
  • Asynchronous and aperiodic control signal updates.
  • Validation through numerical simulations and physical experiments on a multi-UAV platform.

Main Results:

  • The proposed strategy significantly reduces communication frequency compared to traditional methods.
  • Zeno behavior is effectively avoided through the minimum time interval guarantee.
  • The asynchronous and aperiodic nature of the control strategy reduces conservatism.
  • Successful demonstration of multi-UAV coordination using the developed strategy.

Conclusions:

  • The developed event-triggered intermittent control strategy is effective for multi-agent coordination.
  • The approach offers significant communication efficiency and avoids Zeno behavior.
  • The strategy's asynchronous and aperiodic nature makes it practical and less conservative for real-world applications.