Event-Triggered Consensus Seeking of Heterogeneous First-Order Agents With Input Delay

Event-triggered consensus problem is studied for a class of heterogeneous first-order multi-agent system, which contains multiple single integrators with different nominal velocities, and an adaptive consensus algorithm in the leader-following structure is adopted. Under the event-triggered mechanis...

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Bibliographic Details
Published in:IEEE access Vol. 5; pp. 5215 - 5223
Main Authors: Duan, Mei-Mei, Liu, Cheng-Lin, Liu, Fei
Format: Journal Article
Language:English
Published: Piscataway IEEE 2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Adaptive algorithms
Algorithm design and analysis
Convergence
Delays
Event-triggered consensus control
heterogeneous multi-agent system
input delay
Integrators
leader-following control
Liapunov functions
Linear matrix inequalities
Lyapunov methods
Mathematical analysis
Multi-agent systems
Multiagent systems
Protocols
Topology
ISSN:2169-3536, 2169-3536
Online Access:Get full text
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Summary:Event-triggered consensus problem is studied for a class of heterogeneous first-order multi-agent system, which contains multiple single integrators with different nominal velocities, and an adaptive consensus algorithm in the leader-following structure is adopted. Under the event-triggered mechanism, the agents' inputs are only updated at discrete times determined by a centralized event-triggered function. By constructing proper Lyapunov function, sufficient consensus conditions are gained for the asymptotic consensus convergence. Furthermore, the consensus problem subject to identical input delay is considered, and consensus conditions in the form of linear matrix inequalities are obtained. Numerical simulations show the effectiveness of the event-triggered consensus control strategy.
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ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2017.2696026