Event-Based Set-Membership Leader-Following Consensus of Networked Multi-Agent Systems Subject to Limited Communication Resources and Unknown-But-Bounded Noise

This paper addresses the problem of leader-following consensus for networked multi-agent systems subject to limited communication resources and unknown-but-bounded process and measurement noise. First, a new distributed event-based communication mechanism on the basis of a time-varying threshold par...

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Veröffentlicht in:IEEE transactions on industrial electronics (1982) Jg. 64; H. 6; S. 5045 - 5054
Hauptverfasser: Ge, Xiaohua, Han, Qing-Long, Yang, Fuwen
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.06.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Communication
Computational geometry
Convexity
Ellipsoids
Event-based communication
leader-following consensus
Linear matrix inequalities
Mathematical analysis
Matrix methods
Multi-agent systems
multi-agent systems (MASs)
Multiagent systems
Noise (mathematics)
Noise measurement
Occupancy
Optimization
Protocols
recursive linear matrix inequalities (LMIs)
set-membership approach
State estimation
Stochastic processes
Vehicles
ISSN:0278-0046, 1557-9948
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Zusammenfassung:This paper addresses the problem of leader-following consensus for networked multi-agent systems subject to limited communication resources and unknown-but-bounded process and measurement noise. First, a new distributed event-based communication mechanism on the basis of a time-varying threshold parameter is developed to schedule transmission of each sensor's measurement through a communication network so as to alleviate consecutive occupancy of communication resources. Second, a novel concept of set-membership leader-following consensus is put forward, through which the true states of all followers are guaranteed to always reside in a bounding ellipsoidal set of the leader's state. Third, in the case that full information of followers' states are not measurable, a distributed observer-based consensus protocol is presented to provide a set-membership estimation of each follower's state. Then, based on a recursive computation of confidence state estimation ellipsoids and leader state ellipsoid, a delicate convex optimization algorithm in terms of recursive linear matrix inequalities is proposed to design desired consensus protocol and event-based mechanism. Finally, an illustrative example is given to show the effectiveness and advantage of the developed approach.
Bibliographie:ObjectType-Article-1
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ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2016.2613929