Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Zeno-free, distributed event-triggered communication
and control for multi-agent average consensus
C. Nowzari, J. Cortés
Proceedings of the American Control Conference, Portland,
Oregon, USA, 2014, pp. 2148-2153
Abstract
This paper studies a distributed event-triggered
communication and control strategy that solves the
multi-agent average consensus problem. The proposed
strategy does not rely on the continuous or periodic
availability of information to an agent about the state
of its neighbors, but instead prescribes isolated event
times where both communication and controller updates
occur. In addition, all parameters required for its
implementation can be locally determined by the
agents. We show that the resulting network executions
are guaranteed to converge to the average of the initial
agents' states, establish that events cannot be
triggered an infinite number of times in any finite time
period (i.e., absence of Zeno behavior), and
characterize the exponential rate of convergence. We
also provide sufficient conditions for convergence in
scenarios with time-varying communication topologies.
Simulations illustrate our results.
pdf   |
  ps.gz
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