TY - JOUR
T1 - Consensus of Multi-Agents with Event-Based Nonlinear Coupling over Time-Varying Digraphs
AU - Jia, Qiang
AU - Tang, Wallace K. S.
PY - 2018/12
Y1 - 2018/12
N2 - This work addresses the consensus problem of a group of agents coupled via nonlinear locally passive functions over a time-varying network. A consensus protocol is designed which is solely dependent on an agent’s own instantaneous state and the states broadcasted from its neighbors. A time-dependent triggering condition is defined to govern the broadcasting of one’s state to all its neighbors. Information exchange only occurs when the triggering condition is met, as a result, communication overhead can be greatly reduced. It is mathematically proved that consensus is reachable and Zeno behavior is excluded if the union of the underlying graphs over any time interval of certain length admits a directed spanning tree. The proposal is applicable for various kinds of networks, such as continuously time-varying network, switching network, blinking network, and its effectiveness is confirmed with numerical examples.
AB - This work addresses the consensus problem of a group of agents coupled via nonlinear locally passive functions over a time-varying network. A consensus protocol is designed which is solely dependent on an agent’s own instantaneous state and the states broadcasted from its neighbors. A time-dependent triggering condition is defined to govern the broadcasting of one’s state to all its neighbors. Information exchange only occurs when the triggering condition is met, as a result, communication overhead can be greatly reduced. It is mathematically proved that consensus is reachable and Zeno behavior is excluded if the union of the underlying graphs over any time interval of certain length admits a directed spanning tree. The proposal is applicable for various kinds of networks, such as continuously time-varying network, switching network, blinking network, and its effectiveness is confirmed with numerical examples.
KW - consensus
KW - Couplings
KW - event-triggered control
KW - Laplace equations
KW - multi-agent system
KW - Multi-agent systems
KW - Network topology
KW - nonlinear coupling
KW - Protocols
KW - time-varying networks.
KW - Time-varying systems
KW - Topology
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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85040610912&origin=recordpage
U2 - 10.1109/TCSII.2018.2790582
DO - 10.1109/TCSII.2018.2790582
M3 - 21_Publication in refereed journal
VL - 65
SP - 1969
EP - 1973
JO - IEEE Transactions on Circuits and Systems II: Express Briefs
JF - IEEE Transactions on Circuits and Systems II: Express Briefs
SN - 1549-7747
IS - 12
ER -