Self-triggered synchronization of a linear multi-agent system through a cloud repository

Abstract

In this paper, we propose a self-triggered synchronization control method of a first-order linear multi-agent system through a cloud repository. In the self-triggered control approach using the cloud repository, each agent asynchronously accesses the cloud repository to get past information on its neighboring agents. Then, the agent predicts the future behaviors of itself and its neighbors, and locally determines its next access time to the cloud repository. Different from conventional self-triggered control methods, each agent cannot instantaneously communicate with its neighboring agents at every triggering time. In this paper, we introduce a synchronizing controller design method through a cloud repository taking account of uncertainties caused by such asynchronous communications through the cloud repository. As the main result, we prove that the proposed self-triggered controller achieves the bounded state synchronization of the closed-loop system without exhibiting any Zeno behaviors.