Skip to main content
SpringerLink
Log in

Event-triggered Control for Heterogeneous Discrete-time Multi-agent Systems Subject to Uncertainties and Noises

  • Control Theory and Applications
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

This paper investigates the event-triggered control problem of heterogeneous discrete-time multi-agent systems (MASs) subject to uncertainties and noises. Based upon the output regulation theory, a new distributed event-triggered control scheme is proposed to reduce communication burden and attenuate effects of stochastic noises. Two types of event-triggered control laws based on dynamic state feedback and dynamic output feedback are designed, respectively. Moreover, to compensate parameter uncertainties, a p-copy internal model is synthesized into the designed controllers. It is shown that all tracking errors are exponentially ultimately bounded in the mean square sense regardless of uncertainties and noises. Several examples are finally given to demonstrate the validity of main results.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. X. Liang, Y. H. Liu, H. Wang, W. Chen, K. Xing, and T. Liu, “Leader-following formation tracking control of mobile robots without direct position measurements,” IEEE Transactions on Automatic Control, vol. 61, no. 12, pp. 4131–4137, December 2016.

    Article  MathSciNet  Google Scholar 

  2. X. Li and D. Zhu, “An adaptive SOM neural network method to distributed formation control of a group of AUVs,” IEEE Transactions on Industrial Electronics, vol. 65, no. 10, pp. 8260–8270, October 2018.

    Google Scholar 

  3. Y. Huang and Y. Hua, “On energy for progressive and consensus estimation in multihop sensor networks,” IEEE Transactions on Signal Processing, vol. 59, no. 8, pp. 3863–3875, August 2011.

    Article  MathSciNet  Google Scholar 

  4. D. V. Dimarogonas and K. H. Johansson, “Event-triggered control for multi-agent systems,” Proc. of 48th IEEE Conference on Decision and Control, Shanghai, China, pp. 7131–7136, December 2009.

    Google Scholar 

  5. Z. Tang and C. Li, “Distributed event-triggered containment control for discrete-time multi-agent systems,” International Journal of Control, Automation and Systems, vol. 16, no. 6, pp. 2727–2732, December 2018.

    Article  Google Scholar 

  6. J. Liu, L. Wei, X. Xie, and D. Yue, “Distributed event-triggered state estimators design for sensor networked systems with deception attacks,” IET Control Theory & Applications, November 2018. DOI: 10.1049/iet-cta.2018.5868

    Google Scholar 

  7. D. Zhao, T. Dong, and W. Hu, “Event-triggered consensus of discrete time second-order multi-agent network,” IET Control Theory & Applications, vol. 16, no. 1, pp. 87–96, February 2018.

    Google Scholar 

  8. X. Yi, T. Yang, J. Wu, and K. H. Johansson, “Distributed event-triggered control for global consensus of multi-agent systems with input saturation,” Automatica, vol. 100, pp. 1–9, February 2019.

    Article  MathSciNet  Google Scholar 

  9. J. Wang, M. Chen, H. Shen, J. H. Park, and Z.-G. Wu, “A markov jump model approach to reliable event-triggered retarded dynamic output feedback H8 control for networked systems,” Nonlinear Analysis: Hybrid Systems, vol. 26, pp. 137–150, November 2017.

    MathSciNet  MATH  Google Scholar 

  10. H. Shen, F. Li, H. Yan, H. R. Karimi, and H.-K. Lam, “Finite-time event-triggered h∞ control for T-S fuzzy markov jump systems,” IEEE Transactions on Fuzzy Systems, vol. 26, no. 5, pp. 3122–3135, October 2018.

    Article  Google Scholar 

  11. L. Wang, Z. Wang, G. Wei, and Y. Song, “Event-based state estimation for a class of nonlinear discrete-time complex networks with stochastic noises,” Proc. of 34th Chinese Control Conference, Hangzhou, China, pp. 1804–1809, July 2015.

    Google Scholar 

  12. D. Ding, Z. Wang, B. Shen, and G. Wei, “Event-triggered consensus control for discrete-time stochastic multi-agent systems: the input-to-state stability in probability,” Automatica, vol. 62, pp. 284–291, December 2015.

    Article  MathSciNet  Google Scholar 

  13. X. Chen, J. Li, Z. Wu, and J. Yu, “Finite-time consensus protocol for stochastic multi-agent systems,” IET Control Theory & Applications, vol. 13, no. 6, pp. 755–762, April 2019.

    Article  MathSciNet  Google Scholar 

  14. C. Huang and X. Ye, “Cooperative output regulation of heterogeneous multi-agent systems: an H∞ criterion,” IEEE Transactions on Automatic Control, vol. 59, no. 1, pp. 267–273, January 2014.

    Article  MathSciNet  Google Scholar 

  15. Q. Ma, S. Xu, F. L. Lewis, B. Zhang, and Y. Zou, “Cooperative output regulation of singular heterogeneous multiagent systems,” IEEE Transactions on Cybernetics, vol. 46, no. 6, pp. 1471–1475, June 2017.

    Article  Google Scholar 

  16. S. Wang and J. Huang, “Cooperative output regulation of linear multi-agent systems subject to an uncertain leader system,” International Journal of Control, June 2019. DOI: 10.1080/00207179.2019.1625445

    Google Scholar 

  17. J. Huang, Nonlinear Output Regulation: Theory and Applications, Society for Industrial and Applied Mathematics, Philadelphia, PA, USA, 2004.

    Book  Google Scholar 

  18. W. Hu, L. Liu, and G. Feng, “Cooperative output regulation of linear multi-agent systems by intermittent communication: A unified framework of time- and event-triggering strategies,” IEEE Transactions on Automatic Control, vol. 63, no. 2, pp. 548–555, February 2017.

    Article  MathSciNet  Google Scholar 

  19. X. Meng, L. Xie, and Y. C. Soh, “Event-triggered output regulation of heterogeneous multiagent networks,” IEEE Transactions on Automatic Control, vol. 63, no. 12, pp. 4429–4434, December 2018.

    Article  MathSciNet  Google Scholar 

  20. Y.-Y. Qian, L. Liu, and G. Feng, “Distributed dynamic event-triggered control for cooperative output regulation of linear multiagent systems,” IEEE Transactions on Cybernetics, April 2019. DOI: 10.1109/TCYB.2019.2905931

    Google Scholar 

  21. X. Wang, Y. Hong, J. Huang, and Z.-P. Jiang, “Adistributed control approach to robust output regulation of networked linear systems,” Proc. of 8th IEEE International Conference on Control and Automation, Xiamen, China, pp. 1853–1857, June 2010.

    Google Scholar 

  22. W. Hu, L. Liu, and G. Feng, “Robust event-triggered cooperative output regulation of heterogeneous linear uncertain multi-agent systems,” Proc. of 12th IEEE International Conference on Control and Automation, Kath-mandu, Nepal, pp. 738–743, June 2016.

    Google Scholar 

  23. L. Wang, Z. Wang, T. Huang, and G. Wei, “An event-triggered approach to state estimation for a class of complex networks with mixed time delays and nonlinearities,” IEEE Transactions on Cybernetics, vol. 46, no. 11, pp. 2497–2508, November 2016.

    Article  Google Scholar 

  24. S. Li, J. Zhang, X. Li, F. Wang, X. Luo, and X. Guan, “Formation control of heterogeneous discrete Time nonlinear multi-agent systems with uncertainties,” IEEE Transactions on Industrial Electronics, vol. 64, no. 6, pp. 4730–4740, June 2017.

    Article  Google Scholar 

  25. X. Liu, J. Sun, L. Dou, and J. Chen, “Leader-following consensus for discrete-time multi-agent systems with parameter uncertainties based on the event-triggered strategy,” Journal of Systems Science & Complexity, vol. 30, no. 1, pp. 30–45, February 2017.

    Article  MathSciNet  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, 100083, China

    Jie Zhang, Da-Wei Ding, Qing Li & Cuijuan An

  2. Key Laboratory of Knowledge Automation for Industrial Processes, Ministry of Education, Beijing, 100083, China

    Jie Zhang, Da-Wei Ding, Qing Li & Cuijuan An

Authors
  1. Jie Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Da-Wei Ding
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Qing Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Cuijuan An
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Cuijuan An.

Additional information

Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Editor Jessie (Ju H.) Park. This work was supported by National Natural Science Foundation of China (Grant Nos. 61873028, 61803026), Fundamental Research Funds for the Central Universities (Nos. FRF-TP-18-001B1, FRF-TP-18-032A1) and China Postdoctoral Science Foundation (Grant Nos. 2018M640065, 2019T120047).

Jie Zhang received his B.E. degree from Binzhou University, Binzhou, P. R. China, in 2015 and an M.S. degree from the School of Electrical Engineering, Yanshan University, Qinhuangdao, P. R. China, in 2018. He is currently working toward a Ph.D. degree in control science and engineering from University of Science and Technology Beijing, Beijing, P. R. China. His current research interests include cooperative control of multi-agent systems and fault detection of multi-agent systems.

Da-Wei Ding received his B.E. degree from the Ocean University of China, Qingdao, P. R. China, in 2003 and his Ph.D. degree in control theory and engineering from Northeastern University, Shenyang, P. R. China, in 2010. He is currently a Professor with the School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China. His research interests include robust control and filtering, fuzzy control, and fault detection.

Qing Li received his B.E. degree from North China University of Science and Technology, Tangshan, China, in 1993 and a Ph.D degree in control theory and its applications from University of Science and Technology Beijing, Beijing, China, in 2000. He is currently a Professor with the School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China. He has been a visiting scholar at Ryerson University, Toronto, Canada, from February 2006 to February 2007. His research interests include intelligent control and intelligent optimization.

Cuijuan An received her B.E. degree from Northeastern University at Qinhuangdao, China, in 2004, and her Master degree in control theory and control engineering from Northeastern University, Shenyang, China, in 2007. She is currently a Senior Engineer with the School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China. Her research interests include industrial control and multi-agents systems.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zhang, J., Ding, DW., Li, Q. et al. Event-triggered Control for Heterogeneous Discrete-time Multi-agent Systems Subject to Uncertainties and Noises. Int. J. Control Autom. Syst. 18, 661–671 (2020). https://doi.org/10.1007/s12555-019-0176-4

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-019-0176-4

Keywords

Search

Navigation