Distributed self-triggered control for multi-agent systems

Dimos V. Dimarogonas, Emilio Frazzoli, Karl H. Johansson
2010 49th IEEE Conference on Decision and Control (CDC)  
It is desirable to limit the amount of communication and computation generated by each agent in a large multi-agent system. Event-and self-triggered control strategies have been recently proposed as alternatives to traditional timetriggered periodic sampling for feedback control systems. In this paper we consider self-triggered control applied to a multi-agent system with an agreement objective. Each agent computes its next update time instance at the previous time. This formulation extends
more » ... iderably our recent work on event-based control, because in the self-triggered setting the agents do not have to keep track of the state error that triggers the actuation between consecutive update instants. Both a centralized and a distributed self-triggered control architecture are presented and shown to achieve the agreement objective. The results are illustrated through simulated examples.
doi:10.1109/cdc.2010.5717444 dblp:conf/cdc/DimarogonasFJ10 fatcat:clkukkphc5gttox2fyjp2morme