Rendezvous With Connectivity Preservation Problem of Linear Multiagent Systems via Parallel Event-Triggered Control Strategies

This article studies the rendezvous problem of linear multiagent systems by parallel event-triggered connectivity-preserving control strategies. There are two distinguished features of our design. First, the event-triggered control laws can not only guarantee the convergence of the tracking error as...

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Veröffentlicht in:IEEE transactions on cybernetics Jg. 52; H. 5; S. 2725 - 2734
Hauptverfasser: Dong, Yi, Xu, Shengyuan
Format: Journal Article
Sprache:Englisch
Veröffentlicht: United States IEEE 01.05.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Adaptive control
Closed loop systems
Communication networks
Connectivity
Connectivity preservation
Control theory
Controllers
Event triggered control
event triggering
Legislation
Linear systems
Measurement errors
Multi-agent systems
Multiagent systems
Observers
Sensors
Tracking errors
Trajectory
ISSN:2168-2267, 2168-2275, 2168-2275
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Zusammenfassung:This article studies the rendezvous problem of linear multiagent systems by parallel event-triggered connectivity-preserving control strategies. There are two distinguished features of our design. First, the event-triggered control laws can not only guarantee the convergence of the tracking error as existing event-triggered consensus control strategies but also have the additional ability to maintain the connectivity of the time-varying and position-dependent communication network as rendezvous control laws. Second, by combining the potential function technique, output regulation theory, and adaptive control technique, an event-triggered observer is applied to estimate both the leader's system matrix and trajectory, which can work in parallel with the connectivity-preserving event-triggered controller. The executive time instants for the observer and the controller are asynchronous and generated by different triggering functions based on their own locally available measurement errors.
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ISSN:2168-2267
2168-2275
2168-2275
DOI:10.1109/TCYB.2020.3021788