Cooperative Controller Design for Nonlinear Multi-Agent Systems via Observer-Based Event-Triggered Scheme
Subject Areas : Electrical Engineering
S Narges Mahdian Zadeh
1
,
Reza Ghasemi
2
1 -
2 -
Keywords: Event Triggered structure, Multi-Agent System, Consensus, Leader-Follower, Communication, Stability, Nonlinear Observer,
Abstract :
The Event-triggering protocol is addressed for nonlinear multi-agent systems based on nonlinear observer. It is assumed that the agents have affine nonlinear dynamics. The proposed observer has nonlinear dynamics. Compared to other research that concentrates on the event-triggered controller for both linear multi-input multi-output and multi-agent systems, the proposed methodology deals with event-triggered controllers for nonlinear multi-agent systems.To decrease unnecessary information transportations, an event-triggered technique with state-independent threshold is involved to update the control input law. The triggering mechanism guarantees both the acceptable performance and the stability of the overall system. The observer is recommended 1) to decrease the hardware and sensors, 2) to approximate the relative full states in order to reach the overall leader-follower consensus. the focal merits of the proposed methodology are 1) convergence of the observer error to zero, 2) convergence of the leader-follower consensus error to zero, 3) decreasing unnecessary data in proposed topology, and 4) stability of the closed loop multi agent system. The proposed methodology is applied on applicable dynamics and the simulation results elaborate the promising presentation of the methodological analysis.
[1] R. Olfati-Saber, J. A. Fax, and R. M. Murray, "Consensus and cooperation in networked multi-agent systems", Proc. IEEE, 95(1), pp. 215–233, 2007.
[2] Z. Chen, Q.-L. Han, Y. Yan, and Z.-G. Wu, "How often should one update control and estimation: Review of networked triggering techniques", Sci. China Inf. Sci. 63(5), 2020.
[3] R. Olfati-Saber, "Flocking for multi-agent dynamic systems: Algorithms and theory", IEEE Trans. Autom. Control 51(3), pp. 401-420, 2006.
[4] X. Dong, Y.Zhou, Z. Ren, and Y. Zhong, "Time-varying formation tracking for second-order multi-agent systems subjected to switching topologies with application to quadrotor formation flying", IEEE Trans. Ind. Electron, vol. 64(6), pp. 5014-5024, 2017.
[5] P. Mill´an, L. Orihuela, I. Jurado, and F. Rodriguez Rubio, "Formation control of autonomous underwater vehicles subject to communication delays", IEEE Trans. Control System Technology 22(2), pp. 770-777, 2014.
[6] T. Liu and Z.P. Jiang, "Distributed formation control of non-holonomic mobile robots without global position measurements", Automatica 49(1), pp. 592-600, 2013.
[7] H. Rezaee and F. Abdollahi, "Pursuit formation of double-integrator dynamics using consensus control approach", IEEE Trans. Ind. Electron. 62(7), pp. 4249-4256, 2015.
[8] X. Ge, and Q. Han, "Distributed formation control of networked multi-agent systems using a dynamic event-triggered communication mechanism", IEEE Transactions on Industrial Electronics 64(10), pp. 8118-8127, 2017.
[9] W. Hu, L. Liu, and G. Feng, "Consensus of linear multi-agent systems by distributed event-triggered strategy", IEEE transactions on cybernetics 46(1), pp. 148-157, 2015.
[10] P. Tabuada, "Event-triggered real-time scheduling of stabilizing control tasks", IEEE Trans. Autom. Control 52(9), pp. 1680-1685, 2007.
[11] H.Zhang, G. Feng, H. Yan, Q. Chen, "Observer-based output feedback event-triggered control for consensus of multi-agent systems", IEEE Transactions on Industrial Electronics 61(9), pp. 4885-4894, 2013.
[12] D.V. Dimarogonas, E. Frazzoli, and K. H. Johansson, "Distributed event-triggered control for multi-agent systems", IEEE Trans. Autom. Control 57(5), pp. 1291-1297, 2012.
[13] C. Peng, Q. L. Han, and D. Yue, "To transmit or not to transmit: A discrete event-triggered communication scheme for networked Takagi–Sugeno fuzzy systems", IEEE Trans. Fuzzy Syst 21(1), pp. 164-170, 2013.
[14] K.J.Astrom and B. M. Bernhardsson, "Comparison of periodic and event based sampling for first order stochastic system", Proc. IFAC World Conference, pp. 301-306, 1999.
[15] J. Lunze and D. Lehmann, "A state-feedback approach to event-based control", Automatica 46(1), pp. 211-215, 2010.
[16] H. Dong, Z. Wang, F. E. Alsaadi, and B. Ahmad, "Event-triggered robust distributed state estimation for sensor networks with state-dependent noises", Int. J. Gen. Syst 44(2), pp. 254-266, 2015.
[17] G. S. Seyboth, D. V. Dimarogonas, and K. H. Johansson, "Event-based broadcasting for multi-agent average consensus", Automatica 49(1), pp. 245-252, 2013.
[18] C. Yi, J. Feng, C. Xu, J. Wang, and Y. Zhao, "Event-triggered consensus control for stochastic multi-agent systems under state-dependent topology". International Journal of Control 94(9), pp. 2379-2387, 2021.
[19] H. Ma, H. Li, R. Lu, and T. Huang, "Adaptive event-triggered control for a class of nonlinear systems with periodic disturbances", Science China Information Sciences, 63(5), pp. 1-15, 2020.
[20] D. Yao, L. Hongyi, L. Renquan and Sh. Yang, "Distributed sliding-mode tracking control of second-order nonlinear multi-agent systems: an event-triggered approach", IEEE transactions on cybernetics 50(9), pp. 3892-3902, 2020.
[21] H. Liang, G. Liu, H. Zhang, and T. Huang, "Neural-network-based event-triggered adaptive control of non-affine nonlinear multi-agent systems with dynamic uncertainties", IEEE Transactions on Neural Networks and Learning Systems 32(5), pp. 2239-2250, 2020.
[22] D. Ding, Z. Wang, D. WC Ho, and G. Wei, "Observer-based event-triggering consensus control for multi-agent systems with lossless sensors and cyber-attacks", IEEE Transactions on Cybernetics 47(8), pp. 1936-1947, 2016.
[23] G. S. Seyboth, D. V. Dimarogonas, and K. H. Johansson, “Event-based broadcasting for multi-agent average consensus”, Automatica 49(1), pp. 245-252, 2013.
[24] ZH.Wu, Y. Xu, Y.J. Pan, P. Shi, and Q. Wang, "Event-triggered pinning control for consensus of multi-agent systems with quantized information", IEEE Transactions on Systems, Man, and Cybernetics: Systems 48(11), pp. 1929-1938, 2017.
[25] J.L. Wang, H.N. Wu, T. Huang, S.Y. Ren, and J. Wu, "Pinning control for synchronization of coupled reaction-diffusion neural networks with directed topologies", IEEE Trans. Syst., Man, Cybern., Syst, 46(8), pp. 1109-1120, 2017.
[26] M. Zamanian, F. Abdollahi, and S. K. Yadavar Nikravesh, "Finite-time consensus of heterogeneous unknown nonlinear multi-agent systems with external disturbances via event-triggered control". Journal of Vibration and Control, 27(15-16), pp. 1806-1823, 2021.
[27] H. Khalil, "Nonlinear systems", 3 edition, 2001.
[28] M.J. Khosrowjerdi, S. Barzegary, "Fault tolerant control using virtual actuator for continuous-time Lipchitz nonlinear systems", Int. J. Robust Nonlinear Control 10(1), pp. 2597-2607, 2014.
[29] C. Deng, G. H. Yang, “Distributed adaptive fault-tolerant containment control for a class of multi-agent systems with non-identical matching non-linear functions”, IET Control Theory & Applications 10(3), pp. 273-281, 2016.
[30] S. Hou, Y. Chu, J. Fei, “Modified fuzzy neural network control using sliding mode technique for power quality improvement system with experimental verification”, IET Control Theory & Applications 14(19), pp. 3029-3037, 2020.
[31] J. Zhang; H. Zhang; Y. Lu; S. Sun, “Event\self-triggered leader-following consensus of multi-agent systems with general dynamics”, IET Control Theory & Applications 14(9), pp. 1209-1219, 2020.
[32] M. Hou, H. Shi, “The Adaptive Distributed Event-Triggered Observer Approach to Cooperative Output Regulation of Discrete-Time Linear Multi-Agent Systems under Directed Switching Networks”, IEEE Access 8(1), pp. 221568 – 221579, 2020.
[33] P. Xu, X. Wang, G. Xie, J. Tao, M, Xu, Quan Zhou, “Distributed Finite-time Bipartite Consensus of Multi-agent Systems via Event-triggered Control”, IFAC-Papers On Line, 53(2), pp. 2927-2932, 2020.
