Abstract
This paper addresses the synchronization problem of multi-agent systems with nonlinear controller outputs via event-triggered control, in which the combined edge state information is utilized, and all controller outputs are nonlinear to describe their inherent nonlinear characteristics and the effects of data transmission in digital communication networks. First, an edge-event-triggered policy is proposed to implement intermittent controller updates without Zeno behavior. Then, an edge-self-triggered solution is further investigated to achieve discontinuous monitoring of sensors. Compared with the previous event-triggered mechanisms, our policy design considers the controller output nonlinearities. Furthermore, the system’s inherent nonlinear characteristics and networked data transmission effects are combined in a unified framework. Numerical simulations demonstrate the effectiveness of our theoretical results.
Highlights
In recent years, distributed coordinated control of multi-agent systems has attracted a lot of attention from researchers [1–20]
We provide edge-event- and edge-self-triggered control solutions to solve the synchronization problem of Lipschitz nonlinear multi-agent systems with controller output nonlinearities, in which the edge states associated with each individual are processed together
The proposed event- and self-triggered policies take the effects of controller output nonlinearities into account, including controllers’ inherent nonlinear properties, and the signal distortion caused by network data transmission
Summary
In recent years, distributed coordinated control of multi-agent systems has attracted a lot of attention from researchers [1–20]. According to the information acquisition methods of the sensors equipped by agents, distributed event-triggered sampling can usually be divided into node-based [34–36,38,44,52,53] and edge-based [39–43,45–47,54,55] These two methods are suitable for different scenarios. For the node-based event-triggered control, the sensors assembled in each agent are required to sample each individual’s absolute state information and communicate with neighbor individuals. The proposed event- and self-triggered policies take the effects of controller output nonlinearities into account, including controllers’ inherent nonlinear properties, and the signal distortion caused by network data transmission. The event-triggered policy does not require digital signal transmission between neighboring individuals but requires all sensors to continuously obtain edge state information to evaluate triggering conditions and implement intermittent controller updates.
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