Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

Meilin Li; Yue Long; Tieshan Li; Hongjing Liang; C. L. Philip Chen

doi:10.1109/JAS.2023.123582

Volume 11 Issue 3

Mar. 2024

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2024 > 11(3): 649-660

M. Li, Y. Long, T. Li, H. Liang, and C. Chen, “Dynamic event-triggered consensus control for input constrained multi-agent systems with a designable minimum inter-event time,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 3, pp. 649–660, Mar. 2024. doi: 10.1109/JAS.2023.123582

Citation:

M. Li, Y. Long, T. Li, H. Liang, and C. Chen, “Dynamic event-triggered consensus control for input constrained multi-agent systems with a designable minimum inter-event time,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 3, pp. 649–660, Mar. 2024. doi: 10.1109/JAS.2023.123582

Citation:

M. Li, Y. Long, T. Li, H. Liang, and C. Chen, “Dynamic event-triggered consensus control for input constrained multi-agent systems with a designable minimum inter-event time,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 3, pp. 649–660, Mar. 2024. doi: 10.1109/JAS.2023.123582

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Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

doi: 10.1109/JAS.2023.123582

Funds: This work was supported in part by the National Natural Science Foundation of China (51939001, 61976033, 62273072) and the Natural Science Foundation of Sichuan Province (2022NSFSC0903)

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Author Bio:
Meilin Li received the M.S. degree in traffic and transportation engineering in Dalian Maritime University in 2020. She is currently pursuing the Ph.D. degree in School of Automation Engineering, University of Electronic Science and Technology of China. Her current research interests include event-triggered control, multi-agent systems control, adaptive control

Yue Long (Member, IEEE) received the Ph.D. degree in College of Information Science and Engineering, Northeastern University, in 2013. She was an Associate Professor with Liaoning University from 2013 to 2020. She is currently an Associate Professor with School of Automation Engineering, University of Electronic Science and Technology of China. Her research interests include fault detection, fault tolerant control, and security of unmanned vehicles

Tieshan Li (Senior Member, IEEE) received the B.S. degree in ocean fisheries engineering from Ocean University of China in 1992, and the Ph.D. degree in vehicle operation engineering from Dalian Maritime University (DMU) in 2005. He has been a Full Professor with the School of Automation Engineering, University of Electronic Science and Technology of China since 2019. He was a Lecturer with DMU from 2005 to 2006, where he was an Associate Professor from 2006 to 2011, a Full Professor since 2011, and the Ph.D. Supervisor since 2009. From 2007 to 2010, he was a Postdoctoral Scholar with the School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University. From 2008 to 2009, and from 2014 to 2015, he visited City University of Hong Kong, Hong Kong, China, as a Senior Research Associate. Since 2013, he has been visiting University of Macau, Macau, China, as a Visiting Scholar many times. His current research interests include intelligent learning and control for nonlinear systems, and multi-agent systems and their applications to marine vehicle control

Hongjing Liang (Member, IEEE) received the M.S. degree in fundamental mathematics from Northeastern University, in 2011, and the Ph.D. degree in control theory and control engineering from Northeastern University, in 2016. He was a Temporary Research Associate with the Science Program, Texas A&M University, Qatar. He is currently a Professor with the University of Electronic Science and Technology of China. His current research interests include adaptive control, fuzzy control, and cooperative control and their applications. Dr. Liang was a recipient of the Outstanding Reviewer Award of IEEE/CAA Journal of Automatica Sinica 2019. He has been in the Editorial Board of International Journal of Fuzzy Systems and Fluctuation and Noise Letters

C. L. Philip Chen (Fellow, IEEE) is the Chair Professor and Dean of the College of Computer Science and Engineering, South China University of Technology. Being a Program Evaluator of the Accreditation Board of Engineering and Technology Education (ABET) in the U.S., for computer engineering, electrical engineering, and software engineering programs, he successfully architects the University of Macau’s Engineering and Computer Science programs receiving accreditations from Washington/Seoul Accord through Hong Kong Institute of Engineers (HKIE), of which is considered as his utmost contribution in engineering/computer science education for Macau as the former Dean of the Faculty of Science and Technology. He is a Fellow of IEEE, AAAS, IAPR, CAA, and HKIE; a Member of Academia Europaea (AE), European Academy of Sciences and Arts (EASA), and International Academy of Systems and Cybernetics Science (IASCYS). He received IEEE Norbert Wiener Award in 2018 for his contribution in systems and cybernetics, and machine learnings. He is also a highly cited researcher by Clarivate Analytics in 2018–2020
Corresponding author: Yue Long, e-mail: longyue@uestc.edu.cn
Received Date: 2023-03-06
Accepted Date: 2023-03-25

Available Online: 2023-09-28

Abstract

Abstract

This paper investigates the consensus control of multi-agent systems (MASs) with constrained input using the dynamic event-triggered mechanism (ETM). Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed. Then, a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks. It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time. In addition, it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter. Furthermore, the results are extended to regional consensus of the MASs with the bounded control protocol. Numerical simulations show the effectiveness of the proposed approach.
- Constrained input,
- designable minimum inter-event time,
- directed communication topology,
- dynamic event-triggered mechanism,
- MASs consensus control

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References

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Two novel dynamic event-triggered mechanisms (ETMs) known as the centralized dynamic ETM and distributed dynamic ETM are proposed, respectively. It is shown that the proposed centralized dynamic ETM is more suitable for small-scale MASs and the distributed dynamic ETM is more suitable for the large-scale MASs. The dynamic ETMs proposed in this paper can ensure a larger inter-event time (IET), which can further reduce the energy use and cost of the control protocol updating
The bounded event-triggered control protocols based on two novel dynamic ETMs under the directed graph are proposed. Moreover, in this paper, the linear MASs with constrained input is considered, which is more common in practical engineering systems. Then, by designing the bounded control protocols based on dynamic ETMs the semi-global consensus is achieved
With the designed centralized dynamic ETM and the distributed dynamic ETM, the expressions of the minimum IET are established which avoids the complex relationship with the system matrix. Finally, a trade-off between minimum IET and convergence rate can be easily found by adjusting the parameter. In particular, a strict positive lower bound of the minimum IET can be found with the centralized dynamic ETM which is more meaningful to the application of event-triggered control in engineering practice
Furthermore, by relaxing the constraint on the eigenvalue of matrix A, the results can be extended to handle the regional consensus control of the input constrained MASs by the designed dynamic ETMs

Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

doi: 10.1109/JAS.2023.123582

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通讯作者: 陈斌, bchen63@163.com

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