Event-Triggering Sampling Based Leader-Following Consensus in Second-Order Multi-Agent Systems
Top Cited Papers
- 27 October 2014
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 60 (7), 1998-2003
- https://doi.org/10.1109/tac.2014.2365073
Abstract
In this note, the problem of second-order leader-following consensus by a novel distributed event-triggered sampling scheme in which agents exchange information via a limited communication medium is studied. Event-based distributed sampling rules are designed, where each agent decides when to measure its own state value and requests its neighbor agents broadcast their state values across the network when a locally-computed measurement error exceeds a state-dependent threshold. For the case of fixed topology, a necessary and sufficient condition is established. For the case of switching topology, a sufficient condition is obtained under the assumption that the time-varying directed graph is uniformly jointly connected. It is shown that the inter-event intervals are lower bounded by a strictly positive constant, which excludes the Zeno-behavior before the consensus is achieved. Numerical simulation examples are provided to demonstrate the correctness of theoretical results.Keywords
Funding Information
- Fundamental Research Funds for the Central Universities (SWU114006, XDJK2014C117)
- Natural Science Foundation Project of Chongqing CSTC (cstc2014jcyjA0046)
- Natural Science Foundation of China (61403314)
- Qatar National Research Fund
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