Abstract
In the presented paper, the leader-following consensus algorithm of a multi-agent system (MAS) is used along with the centralized event-triggering scheme to make the speed of the network-coupled multiple-motors synchronizable. In the proposed method, the updates for the controller are event-driven based on local information. Moreover, the basic consensus protocol is also revised such that the speed information of the motors is used in order to reach identical speed. The main benefit of the planned event-triggered methodology is the energy saving by avoiding the continuous control of the system. As far as stability analysis of the system is concerned, a common Lyapunov function is incorporated to validate stability. The acquired results endorse the success of the proposed methodology.
Highlights
The multi-agent system (MAS) has received foremost attention from the research community due to its wide area of application in engineering and technology, with there being a requirement for coordinated activities among different entities such as robots, vehicles, or sensors
The system stability is proved by using the Lyapunov theorem and it is shown that the event-triggered consensus is reached with and without the leader
The presented work is motivated by the enormous industrial application of the multi-motor system with there being a requirement for synchronous speed with minimum energy consumption
Summary
The multi-agent system (MAS) has received foremost attention from the research community due to its wide area of application in engineering and technology, with there being a requirement for coordinated activities among different entities such as robots, vehicles, or sensors. There is a sufficient amount of work already being performed in the MAS with the event-triggered controllers, either centralized or decentralized. In [13], a new decentralized scheme is proposed for the event-triggered control such that the requirement of monitoring the neighbor’s information does not remain necessary. In [14], the problem of the even-triggered consensus for the linear MAS is addressed under two different event conditions, i.e., with and without the necessity of continuous communication among neighbors.
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