Observer-Based Asynchronous Communication and Adaptive Control Protocols With Intermittent Updating and Interaction

Abstract

This paper focuses on the distributed observer-based synchronization control of multi-agent systems (MASs) over wireless networks. Unlike existing works mostly focusing on the communication reduction of control sides, a perception-based data reduction and transmission approach is proposed to design an asynchronous communication and control mechanism, which can avoid continuous inter-agents communications for both the communication as well as control sides. Then, an observer-based asynchronously distributed controller with intermittent updating and interaction based on the proposed perception-based data-reduction communication scheme. The criteria of new data transmission of communication triggering strategy and control triggering strategy are developed, respectively. Moreover, it is further extended to develop an observer-based asynchronous projection-type adaptive control strategy for online self-tuning of parameters. Theoretical analysis shows that the proposed two asynchronous communication and control strategies not only ensure that all agents stabilize to their initial average state without requiring any global information, but also ensure the reduction of both communications and controller update frequencies. An example is demonstrated to verify the theoretical analysis.