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Event-triggered Consensus Control of Nonlinear Multi-agent Systems based on First-order Hold

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Abstract

In this paper, consensus problem is studied for the first-order nonlinear multi-agent systems under directed topology, and a novel event-triggered consensus protocol is proposed. Different from the existing results with general zero-order hold, the first-order hold is adopted to construct the event-triggered control signal so as to reduce the triggering rate. By using Lyapunov stability method and matrix theory, a sufficient consensus condition is derived for the agents to reach the asymptotic consensus, and Zeno-behavior can be avoided. Finally, a numerical example is presented to demonstrate the effectiveness of our proposed protocol.

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Authors and Affiliations

  1. Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi, 214122, China

    Yu Shang & Cheng-Lin Liu

  2. School of Electrical Engineering, Nantong University, Nantong, 226019, China

    Ke-Cai Cao

Authors
  1. Yu Shang
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  2. Cheng-Lin Liu
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  3. Ke-Cai Cao
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Corresponding author

Correspondence to Cheng-Lin Liu.

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

Recommended by Associate Editor Son-Cheol Yu under the direction of Editor Fuchun Sun. This work is supported by National Natural Science Foundation of China under Grants 61973139 and 61473138, Natural Science Foundation of Jiangsu Province under Grant BK20151130 and Six Talent Peaks Project in Jiangsu Province under Grant 2015-DZXX-011.

Yu Shang received his B.S. degree in automation form Jiangnan University, Wuxi, China, in 2018, where he is currently pursuing an M.S. degree. His research interest focuses on the event-triggered control of nonlinear multi-agent systems.

Cheng-Lin Liu received his Bachelor’s degree in electrical engineering and automation from Nanjing University of Science and Technology, China in 2003, Ph.D. degree in control theory and control engineering from Southeast University, China in 2008. Since 2008, he has been with Jiangnan University, Wuxi, China, where he is currently a professor at Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), School of IOT Engineering. From March 2014 to March 2015, he was with School of Electrical and Electronic Engineering at Nanyang Technological University as a visiting scholar. His current research interests include coordination control of multi-agent systems, iterative learning control and nonlinear control.

Ke-Cai Cao received his Ph.D. degree from Southeast University in 2007 and his bachelor’s degree from University of Electronic Science and Technology of China in 2003. He has worked as a postdoctoral fellow of College of Automation Engineering in Nanjing University of Aeronautics and Astronautics, China. He currently serves as an Associate Editor or Editorial Board Member for several international journals, such as International Journal of Advanced Robotic Systems, Control and Automation Systems of Frontiers. His research interests include nonlinear control of nonholonomic systems and distributed control of multi agent systems of large scale.

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Shang, Y., Liu, CL. & Cao, KC. Event-triggered Consensus Control of Nonlinear Multi-agent Systems based on First-order Hold. Int. J. Control Autom. Syst. 19, 1461–1469 (2021). https://doi.org/10.1007/s12555-020-0145-y

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