Abstract
Management of resources is a constant topic in industrial systems. How to use minimum communication resources is of particular interest for control and estimation of networked systems. It raises the question for researchers in the field: how often should one update control and estimation? One of the most intelligent approaches is to trigger updates by events. In the literature, event-triggered control and estimation have been widely studied in the last decade. On one hand, events should be triggered sufficiently frequent to maintain system performance; on the other hand, the possibility of Zeno behavior caused by infinite frequency should be avoided. This review aims at revisiting some existing triggering techniques in a unified formulation, separated from system dynamics and control and estimation strategies. It brings readers better understanding of triggering mechanisms, the underlying technical challenges, and some promising future research topics.
Similar content being viewed by others
References
Huggett N. Zeno’s paradoxes. The Stanford Encyclopedia of Philosophy, 2010. https://plato.stanford.edu/archives/win2010/entries/paradox-zeno/
Chen T W, Francis B A. Optimal Sampled-Data Control Systems. New York: Springer-Verlag, 1995
Wang X F, Lemmon M D. Event-triggering in distributed networked control systems. IEEE Trans Automat Contr, 2011, 56: 586–601
Dimarogonas D V, Johansson K H. Stability analysis for multi-agent systems using the incidence matrix: quantized communication and formation control. Automatica, 2010, 46: 695–700
Zhang X-M, Han Q-L, Yu X H. Survey on recent advances in networked control systems. IEEE Trans Ind Inf, 2016, 12: 1740–1752
Tabuada P. Event-triggered real-time scheduling of stabilizing control tasks. IEEE Trans Automat Contr, 2007, 52: 1680–1685
Qin J H, Ma Q C, Shi Y, et al. Recent advances in consensus of multi-agent systems: a brief survey. IEEE Trans Ind Electron, 2017, 64: 4972–4983
Peng C, Li F Q. A survey on recent advances in event-triggered communication and control. Inf Sci, 2018, 457-458: 113–125
Ge X H, Han Q-L, Zhang X M, et al. Distributed event-triggered estimation over sensor networks: a survey. IEEE Trans Cybern, 2019. doi: 10.1109/TCYB.2019.2917179
Nowzari C, Garcia E, Cortés J. Event-triggered communication and control of networked systems for multi-agent consensus. Automatica, 2019, 105: 1–27
Dimarogonas D V, Frazzoli E, Johansson K H. Distributed event-triggered control for multi-agent systems. IEEE Trans Automat Contr, 2012, 57: 1291–1297
Dimarogonas D V, Johansson K H. Event-triggered control for multi-agent systems. In: Proceedings of the 48th IEEE Conference on Decision and Control jointly with the 28th Chinese Control Conference, Shanghai, 2009. 7131–7136
Dimarogonas D V, Johansson K H. Event-triggered cooperative control. In: Proceedings of the 2009 European Control Conference, Budapest, 2009. 3015–3020
Aström K J, Bernhardsson B. Comparison of periodic and event based sampling for first-order stochastic systems. In: Proceedings of the 14th IFAC World Congress, Beijing, 1999. 301–306
Borgers D P, Heemels W P M H. Event-separation properties of event-triggered control systems. IEEE Trans Automat Contr, 2014, 59: 2644–2656
Garcia E, Cao Y C, Yu H, et al. Decentralised event-triggered cooperative control with limited communication. Int J Control, 2013, 86: 1479–1488
Zhu W, Jiang Z-P, Feng G. Event-based consensus of multi-agent systems with general linear models. Automatica, 2014, 50: 552–558
Xing L T, Wen C Y, Guo F H, et al. Event-based consensus for linear multiagent systems without continuous communication. IEEE Trans Cybern, 2017, 47: 2132–2142
Fan Y, Feng G, Wang Y, et al. Distributed event-triggered control of multi-agent systems with combinational measurements. Automatica, 2013, 49: 671–675
Sun Z Y, Huang N, Anderson B D O, et al. Comments on “distributed event-triggered control of multi-agent systems with combinational measurements”. Automatica, 2018, 92: 264–265
Hu W F, Liu L, Feng G. Consensus of linear multi-agent systems by distributed event-triggered strategy. IEEE Trans Cybern, 2016, 46: 148–157
Du C K, Liu X D, Liu H K, et al. Distributed event-triggered consensus control for general linear multi-agent systems under directed graph. In: Proceedings of the 56th IEEE Conference on Decision and Control, Melbourne, 2017. 4550–4555
Liu Z X, Chen Z Q, Yuan Z Z. Event-triggered average-consensus of multi-agent systems with weighted and direct topology. J Syst Sci Complex, 2012, 25: 845–855
Nowzari C, Cortées J. Distributed event-triggered coordination for average consensus on weight-balanced digraphs. Automatica, 2016, 68: 237–244
Seyboth G S, Dimarogonas D V, Johansson K H. Event-based broadcasting for multi-agent average consensus. Automatica, 2013, 49: 245–252
Meng X Y, Xie L H, Soh Y C. Asynchronous periodic event-triggered consensus for multi-agent systems. Automatica, 2017, 84: 214–220
Girard A. Dynamic triggering mechanisms for event-triggered control. IEEE Trans Automat Contr, 2015, 60: 1992–1997
Sun Z, Huang N, Anderson B D, et al. A new distributed zeno-free event-triggered algorithm for multi-agent consensus. In: Proceedings of the 55th IEEE Conference on Decision and Control, Las Vegas, 2016. 3444–3449
Meng X Y, Chen T W. Event based agreement protocols for multi-agent networks. Automatica, 2013, 49: 2125–2132
Guo G, Ding L, Han Q-L. A distributed event-triggered transmission strategy for sampled-data consensus of multi-agent systems. Automatica, 2014, 50: 1489–1496
Yue D, Tian E G, Han Q-L. A delay system method for designing event-triggered controllers of networked control systems. IEEE Trans Automat Contr, 2013, 58: 475–481
Zhang X M, Han Q-L, Zhang B L. An overview and deep investigation on sampled-data-based event-triggered control and filtering for networked systems. IEEE Trans Ind Inf, 2017, 13: 4–16
Ding L, Han Q-L, Ge X H, et al. An overview of recent advances in event-triggered consensus of multiagent systems. IEEE Trans Cybern, 2018, 48: 1110–1123
Mazo M, Tabuada P. Decentralized event-triggered control over wireless sensor/actuator networks. IEEE Trans Automat Contr, 2011, 56: 2456–2461
Tallapragada P, Chopra N. Decentralized event-triggering for control of nonlinear systems. IEEE Trans Automat Contr, 2014, 59: 3312–3324
Fan Y, Liu L, Feng G, et al. Self-triggered consensus for multi-agent systems with zeno-free triggers. IEEE Trans Automat Contr, 2015, 60: 2779–2784
Hu W F, Liu L, Feng G. Output consensus of heterogeneous linear multi-agent systems by distributed event-triggered/self-triggered strategy. IEEE Trans Cybern, 2017, 47: 1914–1924
Xu W Y, Ho D W C, Li L L, et al. Event-triggered schemes on leader-following consensus of general linear multiagent systems under different topologies. IEEE Trans Cybern, 2017, 47: 212–223
Khan G D, Chen Z Y, Yan Y M. Event-triggered output synchronization of heterogeneous nonlinear multi-agents. 2019. ArXiv: 1908.07803
Sijs J, Lazar M. Event based state estimation with time synchronous updates. IEEE Trans Automat Contr, 2012, 57: 2650–2655
Shi D W, Chen T W, Shi L. Event-triggered maximum likelihood state estimation. Automatica, 2014, 50: 247–254
Han D, Mo Y L, Wu J F, et al. Stochastic event-triggered sensor schedule for remote state estimation. IEEE Trans Automat Contr, 2015, 60: 2661–2675
Hu S L, Yue D. Event-based H∞ filtering for networked system with communication delay. Signal Processing, 2012, 92: 2029–2039
Zhang X M, Han Q-L. Event-based H∞ filtering for sampled-data systems. Automatica, 2015, 51: 55–69
Zhang X-M, Han Q-L, Ge X H, et al. Networked control systems: a survey of trends and techniques. IEEE/CAA J Autom Sin, 2019. doi: 10.1109/JAS.2019.1911651
Ge X H, Han Q-L, Wang Z D. A threshold-parameter-dependent approach to designing distributed event-triggered H∞ consensus filters over sensor networks. IEEE Trans Cybern, 2019, 49: 1148–1159
Wang J, Zhang X M, Han Q-L. Event-triggered generalized dissipativity filtering for neural networks with time-varying delays. IEEE Trans Neural Netw Learning Syst, 2016, 27: 77–88
Zhang X M, Han Q-L. A decentralized event-triggered dissipative control scheme for systems with multiple sensors to sample the system outputs. IEEE Trans Cybern, 2016, 46: 2745–2757
El Ghaoui L, Calafiore G. Robust filtering for discrete-time systems with bounded noise and parametric uncertainty. IEEE Trans Automat Contr, 2001, 46: 1084–1089
Calafiore G. Reliable localization using set-valued nonlinear filters. IEEE Trans Syst Man Cybern A, 2005, 35: 189–197
Ge X H, Han Q-L, Wang Z D. A dynamic event-triggered transmission scheme for distributed set-membership estimation over wireless sensor networks. IEEE Trans Cybern, 2019, 49: 171–183
Li H Q, Liao X F, Huang T W, et al. Event-triggering sampling based leader-following consensus in second-order multi-agent systems. IEEE Trans Automat Contr, 2015, 60: 1998–2003
Wu Z-G, Xu Y, Lu R Q, et al. Event-triggered control for consensus of multiagent systems with fixed/switching topologies. IEEE Trans Syst Man Cybern Syst, 2018, 48: 1736–1746
Fu M Y, Xie L H. The sector bound approach to quantized feedback control. IEEE Trans Automat Contr, 2005, 50: 1698–1711
Wu Z G, Xu Y, Pan Y J, et al. Event-triggered pinning control for consensus of multiagent systems with quantized information. IEEE Trans Syst Man Cybern Syst, 2018, 48: 1929–1938
Wu Z G, Xu Y, Pan Y J, et al. Event-triggered control for consensus problem in multi-agent systems with quantized relative state measurements and external disturbance. IEEE Trans Circuits Syst I, 2018, 65: 2232–2242
Wu Y Q, Meng X Y, Xie L H, et al. An input-based triggering approach to leader-following problems. Automatica, 2017, 75: 221–228
Garcia E, Cao Y C, Wang X F, et al. Decentralized event-triggered consensus of linear multi-agent systems under directed graphs. In: Proceedings of the 2015 American Control Conference, Chicago, 2015. 5764–5769
Xu Y, Fang M, Shi P, et al. Multileader multiagent systems containment control with event-triggering. IEEE Trans Syst Man Cybern Syst, 2019. doi: 10.1109/TSMC.2019.2899967
He W L, Gao X Y, Zhong W M, et al. Secure impulsive synchronization control of multi-agent systems under deception attacks. Inf Sci, 2018, 459: 354–368
Ding D R, Wang Z D, Ho D W C, et al. Observer-based event-triggering consensus control for multiagent systems with lossy sensors and cyber-attacks. IEEE Trans Cybern, 2017, 47: 1936–1947
Xiao S Y, Han Q-L, Ge X H, et al. Secure distributed finite-time filtering for positive systems over sensor networks under deception attacks. IEEE Trans Cybern, 2019. doi: 10.1109/TCYB.2019.2900478
de Persis C, Tesi P. Networked control of nonlinear systems under denial-of-service. Syst Control Lett, 2016, 96: 124–131
Feng Z, Hu G Q, Wen G H. Distributed consensus tracking for multi-agent systems under two types of attacks. Int J Robust Nonlin Control, 2016, 26: 896–918
Hu S L, Yue D, Han Q-L, et al. Observer-based event-triggered control for networked linear systems subject to denial-of-service attacks. IEEE Trans Cybern, 2019. doi: 10.1109/TCYB.2019.2903817
Xu Y, Fang M, Wu Z-G, et al. Input-based event-triggering consensus of multiagent systems under denial-of-service attacks. IEEE Trans Syst Man Cybern Syst, 2018. doi: 10.1109/TSMC.2018.2875250
de Persis C, Tesi P. Input-to-state stabilizing control under denial-of-service. IEEE Trans Automat Contr, 2015, 60: 2930–2944
Liu T F, Jiang Z-P. A small-gain approach to robust event-triggered control of nonlinear systems. IEEE Trans Automat Contr, 2015, 60: 2072–2085
Liu T F, Jiang Z-P. Event-based control of nonlinear systems with partial state and output feedback. Automatica, 2015, 53: 10–22
Liu W, Huang J. Event-triggered global robust output regulation for a class of nonlinear systems. IEEE Trans Automat Contr, 2017, 62: 5923–5930
Liu W, Huang J. Cooperative global robust output regulation for a class of nonlinear multi-agent systems by distributed event-triggered control. Automatica, 2018, 93: 138–148
Wang J Q, Sheng A D, Xu D B, et al. Event-based practical output regulation for a class of multiagent nonlinear systems. IEEE Trans Cybern, 2019, 49: 3689–3698
Khan G D, Chen Z Y, Zhu L J. A new approach for event-triggered stabilization and output regulation of nonlinear systems. IEEE Transactions on Automatic Control, 2019. doi: 10.1109/TAC.2019.2949894
Chen Z Y, Fujioka H. Performance analysis of nonlinear sampled-data emulated controllers. IEEE Trans Automat Contr, 2014, 59: 2778–2783
Ding L, Han Q-L, Wang L Y, et al. Distributed cooperative optimal control of dc microgrids with communication delays. IEEE Trans Ind Inf, 2018, 14: 3924–3935
Ding L, Han Q-L, Zhang X M. Distributed secondary control for active power sharing and frequency regulation in islanded microgrids using an event-triggered communication mechanism. IEEE Trans Ind Inf, 2019, 15: 3910–3922
Zuo Z Y, Han Q-L, Ning B D, et al. An overview of recent advances in fixed-time cooperative control of multiagent systems. IEEE Trans Ind Inf, 2018, 14: 2322–2334
Ning B D, Han Q-L. Prescribed finite-time consensus tracking for multiagent systems with nonholonomic chained-form dynamics. IEEE Trans Automat Contr, 2019, 64: 1686–1693
Ning B D, Han Q-L, Zuo Z Y. Distributed optimization for multiagent systems: an edge-based fixed-time consensus approach. IEEE Trans Cybern, 2019, 49: 122–132
Parsegov S E, Polyakov A E, Shcherbakov P S. Fixed-time consensus algorithm for multi-agent systems with integrator dynamics. In: Proceedings of the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, Rhine-Moselle-Hall, Koblenz, 2013, 110–115
Acknowledgements
This work was partially supported by National Natural Science Foundation of China (Grant Nos. 61803167, 51729501) and State Key Laboratory of Industrial Control Technology (Grant No. ICT1900344).
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Chen, Z., Han, QL., Yan, Y. et al. How often should one update control and estimation: review of networked triggering techniques. Sci. China Inf. Sci. 63, 150201 (2020). https://doi.org/10.1007/s11432-019-2637-9
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s11432-019-2637-9