Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Distributed event-triggered coordination for average consensus on weight-balanced digraphs
C. Nowzari, J. Cortés
Automatica 68 (2016), 237-244
Abstract
This paper proposes a novel distributed event-triggered
algorithmic solution to the multi-agent average consensus problem
for networks whose communication topology is described by
weight-balanced, strongly connected digraphs. The proposed
event-triggered communication and control strategy does not rely
on individual agents having continuous or periodic access to
information about the state of their neighbors. In addition, it
does not require the agents to have a priori knowledge of any
global parameter to execute the algorithm. We show that, under
the proposed law, events cannot be triggered an infinite number of
times in any finite period (i.e., no Zeno behavior), and that the
resulting network executions provably converge to the average of
the initial agents' states exponentially fast. We also provide
weaker conditions on connectivity under which convergence is
guaranteed when the communication topology is switching. Finally,
we also propose and analyze a periodic implementation of our
algorithm where the relevant triggering functions do not need to
be evaluated continuously. Simulations illustrate our results and
provide comparisons with other existing algorithms.
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Mechanical and Aerospace Engineering,
University of California, San Diego
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