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Volume 11 Issue 3
Mar.  2024

IEEE/CAA Journal of Automatica Sinica

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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

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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  • 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.

     

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    Highlights

    • 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

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