On Self-triggered Control Of Multi-agent Systems

Networked cyber-physical system and multi-agent system are widely used in industrial,social and military,and they have attracted a considerable interest in control field.In multi-agent scenarios,the researchers have proposed triggered control strategies to ensure the efficient operation of systems.The goal of triggered control is to find criteria that allow agents to tune the implementation of controllers and sampling schemes to the execution of the task at hand and the desired level of performance.Event-triggered control strategies generally result in less samples or controller updates but,when executed networked systems,may be costly to implement because of the need for continuous availability of the information required to check the triggers.Self-triggered control strategies are more amenable to the real-time implementation of distributed controllers,because they can rely only on current information available to individual agent to schedule future actions.Based on the previous work,this paper designs two new self-triggered control strategies to improve the efficiency of operation for real-time control problems and consensus control problems.Specific work includes:1.In order to address real-time control of the networked cyber-physical systems in a distributed style,by employing set-valued analysis and Lyapunov stability principle,a new self-triggered strategy is suggested.To be different from the already existed strategies,the guaranteed set is borrowed to join in,where agents can exchange information about their future reachable states.And moreover,the up-coming reachable states are collectively coined as guaranteed set.The available guaranteed set makes it possible for the agents to autonomously schedule the instant requested information in the up-coming horizon.On account of that,the leveraged performance with lower cost,is turned into reality.In addition,the design of the self-triggered dwell time ensures that the system does not have Zeno behavior.At the same time,the Lyapunov function is built to verify the effectiveness of the suggested scheme,where the simulation results of a multi-agent formation control problem is also added in to keep the integrity of the touched upon idea.2.In order to address coordination problem of multi-agent system in which all agents are only able to communicate with each other intermittently through a cloud server,by employing algebraic graph theory and Lyapunov stability principle,a distributed self-triggered control strategy is proposed.With the help of “promise”,agents can get high quality estimates about their neighbors' future states,which can not only autonomously determine the time for next communication,but also reduce the amount of required communication.At the same time,they do not need all agents have the ability of “listening” continuously for the paper assumes agents can get neighbors' information only when they establish communication with the cloud server.In addition,the system does not have Zeno behavior by setting a dwell time for each agent.We prove theoretically that all agents will reach consensus.The simulation results of a multi-agent system show the validity of the proposed algorithm.