Abstract
An event-triggered-based external consensus control protocol with delay compensation for networked multiagent systems (NMASs) with nonlinear dynamics and network-induced delays is discussed in this paper. An RBF-ARX modelling method is adopted to approximate a nonlinear system. By utilizing the RBF-ARX model, the locally linearized time series model can be obtained to describe the behaviour of agents with nonlinear characteristics. An event-triggered control protocol with communication delay compensation is proposed to reduce the effects of network-induced delays and the times of the agent’s control update and communication between others by applying the idea of a prediction strategy. The event-triggered mechanism for each agent only depends on the deviation between its own output and the delay-compensated output of neighboring agents. Then, a distributed event-triggered-based and delay-compensated external consensus control protocol is given. Under this proposed control protocol, both the consensus and stability of the system can be proved. Finally, a numerical simulation is performed to verify the availability of our results.
Highlights
Multiagent systems generally exchange data with each other over communication networks because of the advantages of networks in terms of flexibility and cost, which has led to the emergence of networked multiagent systems (NMASs)
A consensus protocol can be divided into the following categories according to different requirements. e average consensus protocol [5] is one of the most common consensus protocols, and its consensus value is defined as the average of the initial value of every agent. e max-min consensus protocol [6] and the function consensus protocol
An industrial process contains some subsystems that have their own goals, such as stable temperature and expected water level. ese subsystems should be set to given external references. erefore, the consensus value is independent of the initial value and is only determined by external reference inputs given to systems
Summary
Multiagent systems generally exchange data with each other over communication networks because of the advantages of networks in terms of flexibility and cost, which has led to the emergence of networked multiagent systems (NMASs). In [25], by considering the communication delays, the stability and output consensus can be reached for the underlying NMASs using a networked multiagent predictive control scheme. From the abovementioned discussion, when the control system is designed for an NMAS in practical applications, network-induced delays and nonlinear dynamics existing in agents should be considered. We study an event-triggered-based external consensus control protocol for NMASs with a nonlinear characteristic and network-induced delays. To achieve the external consensus for the underlying system, a distributed event-triggered-based control protocol for NMASs with a nonlinear characteristic and network-induced delay is proposed.
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