Event-triggered and self-triggered formation control of a multi-agent system
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ORIGINAL ARTICLE
Event‑triggered and self‑triggered formation control of a multi‑agent system Toru Namerikawa1 · Ryo Toyota1 · Kento Kotani1 · Masamichi Akiyama1 Received: 28 March 2020 / Accepted: 13 September 2020 / Published online: 13 October 2020 © International Society of Artificial Life and Robotics (ISAROB) 2020
Abstract In this paper, a distributed event-triggered formation control algorithm for a multi-agent system which consists of linear discrete-time agents is proposed based on control theory. For agents to achieve a formation, it is necessary to communicate with each other to feedback their information. For communication, wireless communications are desirable for various tasks since wired networks can constrain their movement. Also, each agent have to observe their states from sensors. Those energy consumption due to unnecessary calculation and communication of agents may shorten battery life of agents. By using the event-triggered protocol, which updates the control input aperiodically only when certain triggering condition is satisfied, we aim to reduce those calculation and communication by reducing the input update frequency. Also the multi-agent system is guaranteed to achieve a formation by determining the triggering condition of the control input based on Lyapunov’s stability theorem. At the end of the paper, the effectiveness of the proposed algorithm is verified by numerical simulation. Keywords Multi-agent system · Formation control · Event-triggered control · Self-triggered control
1 Introduction A multi-agent system is a system that each agents acts autonomously in cooperation with each other to achieve a purpose as a multi agent system. In recent years, research on cooperative control of multi-agent systems has been actively carried out [1]. Especially regarding formation control of a multiagent system, it is gaining attention in recent years since it is expected to be applied to various tasks [2]. However, since wireless communication involves power consumption, excessive communication for control leads to an increase in power consumption, which is a problem that can not be ignored for a multi-agent system in battery motivated systems such as vehicle robots and drones. Also, acquiring states and output for control and calculating control input will require a lot of calculation. If the frequency This work was presented in part at the 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics (Okinawa, Japan, November 20–22, 2019). * Toru Namerikawa [email protected] 1
Department of System Engineering, Keio University, Hiyoshi, Japan
of calculation and communication can be reduced, we can implement formation control to a small cheap devices with low ability computers. However, since the frequency of feedback control decreases by reducing the number of calculations and communications, there is a possibility that the system becomes unstable. Therefore, in order to reduce communication and computation, frequency of acquiring states of each agents, frequency of infor
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