Decentralised event-triggered cooperative control with limited communication
Abstract
This note studies event-triggered control of Multi-Agent Systems (MAS) with first-order integrator dynamics. It extends previous work on event-triggered consensus by considering limited communication capabilities through strict peer-to-peer non-continuous information exchange. The approach provides both a decentralised control law and a decentralised communication policy. Communication events require no global information and are based only on local state errors; agents do not require a global sampling period or synchronous broadcasting as in sampled-data approaches. The proposed decentralised event-triggered control technique guarantees that the inter-event times for each agent are strictly positive. Finally, the ideas in this note are used to consider the practical scenario where agents are able to exchange only quantised measurements of their states.
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Theorem 3.1: Given a connected, undirected graph and closed-loop dynamics (30), if event times of each agent i are determined by trigger (33) with 0<a<1/|N_i|, then all non-Zeno trajectories asymptotically achieve multi-agent average consensus.
“then all nonZeno trajectories of the system asymptotically achieve multi-agent average consensus.”
From Event-triggered communication and control of networked systems for multi-agent consensus (2019) · cites this paper as Garcia et al. (2013)
In consensus algorithms, implementing uniform quantizers at each node causes convergence to a bounded region around the initial average rather than asymptotic convergence to the global initial average.
“In general, an algorithm which would guarantee asymptotic convergence to the global initial average when non-quantized information is transmitted by each agent, is instead only able to converge to a bounded region around the initial average in the case where uniform quantizers are implemented at each node.”
From Event-triggered communication and control of networked systems for multi-agent consensus (2019) · cites this paper as Garcia et al. (2013)
With uniform quantizers, the agents' states satisfy lim_{t→∞} ||x_i(t) - x̄|| ≤ c, where c depends on the quantization step size and x̄ is the initial average.
“The states of the agents satisfy lim t →∞ || x i ( t ) -¯ x || ≤ c , where c is a constant which depends on the size of the quantization step and ¯ x = 1 N ∑ N i =0 x i (0).”
From Event-triggered communication and control of networked systems for multi-agent consensus (2019) · cites this paper as Garcia et al. (2013)
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- Authors
- Garcia, E., Cao, Y., Yu, H., Antsaklis, P., & Casbeer, D.
- Affiliations
- United States Air Force Research Laboratory (US)
- University of Notre Dame (US)
- Venue
- International Journal of Control
- Publisher
- Informa UK Limited
- Published
- 2013-09
- Volume
- 86
- Issue
- 9
- Pages
- 1479-1488
- ISSN
- 0020-7179 (ISSN-L)
- 1366-5820
- OpenAlex
- W2032898613
- Cited by
- 228
- References
- 32
- Citations by year
- 2026: 1 · 2025: 8 · 2024: 8 · 2023: 17 · 2022: 14 · 2021: 16 · 2020: 24 · 2019: 28 · 2018: 15 · 2017: 26 · 2016: 30 · 2015: 20 · 2014: 19 · 2013: 2
- FWCI
- 31.13
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- International Journal of Control (publishedVersion)
- Topics
- Physical Sciences › Computer Science › Computer Networks and Communications › Distributed Control Multi-Agent Systems
- Physical Sciences › Computer Science › Computer Networks and Communications › Neural Networks Stability and Synchronization
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Keywords
- event-triggered control, multi-agent systems, cooperative control, limited communication, decentralized control, event-triggered consensus, inter-event time
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