Event-triggered distributed predictive control for asynchronous coordination of multi-agent systems

• Autores: Yuanyuan Zou, Xu-- Su--, Chaoyuan Liu, Yugang Niu-, Dewei Li
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 99, 2019, págs. 92-98
• Idioma: inglés
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• Resumen

  • This paper investigates the event-triggered distributed predictive control (DPC) problem for multi-agent systems subject to bounded disturbances. A novel event-triggering mechanism which involves the neighbours’ information is derived for each agent to achieve a trade-off between resource usage and control performance. In such a framework, the DPC optimization problem is solved and information is exchanged only at triggering instants, thus achieving asynchronous coordination. To lower computation and communication consumption more significantly, a dynamic variable considering effects of neighbours is introduced to design a dynamic event-triggering condition and we show that larger inter-execution time can be obtained using the dynamic triggering mechanism. The theoretical conditions on ensuring feasibility and closed-loop stability are developed for these two triggering mechanisms, respectively. Finally, numerical simulations are given to illustrate the effectiveness of the proposed control strategy.