Abstract
New Decentralised Event-Triggered Consensus Strategy for Single and Double Integrator Multi-Agent Systems
Highlights
Cooperative technologies for consensus control of multiagent systems (MASs) have been widely explored in the past decades and have been a trending research area due to their diverse applications in areas, for instance, power engineering, artificial intelligence, defence, robotics, medical imaging, agricultural applications, etc
Aggarwal et al.: New Decentralised Event-Triggered Consensus Strategy for Single and Double Integrator Multi-Agent Systems errors, the method eliminates the problem of synchronously exchanging the information with other agents which may cause sheer traffic in the communication channel, once the agents become large in number
The major contribution of this paper lies in the new approach to derive improved event-triggered conditions that we propose, to achieve average consensus in single and double integrator homogeneous undirected and connected multi-agent systems
Summary
Cooperative technologies for consensus control of multiagent systems (MASs) have been widely explored in the past decades and have been a trending research area due to their diverse applications in areas, for instance, power engineering, artificial intelligence, defence, robotics, medical imaging, agricultural applications, etc (see references [1]–[3]). S. Aggarwal et al.: New Decentralised Event-Triggered Consensus Strategy for Single and Double Integrator Multi-Agent Systems errors, the method eliminates the problem of synchronously exchanging the information with other agents which may cause sheer traffic in the communication channel, once the agents become large in number. The major contribution of this paper lies in the new approach to derive improved event-triggered conditions that we propose, to achieve average consensus in single and double integrator homogeneous undirected and connected multi-agent systems. The in-degree Laplacian matrix associated with the graph G is defined as L = (G) − A(G), where (G) is a diagonal matrix with diagonal entries representing the number of agents which communicate their state information to the ith agent. Given the decentralised nature of control, all the agents are allowed information sharing with their neighbors only, to reach a common state value. The following subsection presents a decentralised eventbased control law for consensus in single integrator systems
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