Abstract
A dynamic average consensus (DAC) control scheme is proposed in the presence of constrained communication, where event-triggered cloud access is presented with a cloud repository for agents. With this framework, agents upload and download information from the cloud repository, in which they exchange information with neighbors indirectly. We first propose a triggered condition with a deviation of control signals for reduction of the frequency of communication with the cloud repository. Due to the fact that the neighbors’ information in the condition can’t be obtained in the cloud framework, cloud access scheduling rules, with an adaptive threshold for control signal updating, are then introduced via available information at current instants, and agents access the cloud repository in an asynchronous manner to avoid congestion. Available information from the cloud is employed, as well as their own, into the triggered condition for prediction of next access instants, and the triggered consequence is generated. Stability analysis presents that the control scheme in this paper steers the MAS to achieve DAC with an ultimately bounded tracking error and rules out Zeno behaviors. The effectiveness of the control scheme is verified via an example.
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