Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Event-triggered communication and control for multi-agent average consensus
C. Nowzari, J. Cortés, G. J. Pappas
Cooperative Control of
Multi-Agent Systems: Theory and Applications, ed. Y. Wang, E. Garcia,
D. Casbeer, and F. Zhang, Wiley, 2017, pp. 177-207
Abstract
In this chapter we look at one of the canonical driving
examples for multi-agent systems: average consensus. In this scenario,
a group of agents seek to agree on the average of their initial
states. Depending on the particular application, such states might
correspond to sensor measurements, estimates about the position of a
target, or some other data that needs to be fused. Due to its numerous
applications in networked systems, many algorithmic solutions exist to
the multi-agent average consensus problem; however, a majority of them
rely on agents having continuous or periodic availability of
information from other agents. Unfortunately, this assumption leads to
inefficient implementations in terms of energy consumption,
communication bandwidth, network congestion, and processor
usage. Motivated by these observations, our main goal here is the
design of provably correct distributed event-triggered strategies that
prescribe when communication and control updates should occur so that
the resulting asynchronous network executions still achieve average
consensus.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo