Event‐triggered finite‐time practical consensus of multiagent systems with general directed communication graphs

2020 ◽  
Vol 30 (17) ◽  
pp. 7255-7277
Author(s):  
Junjie Fu ◽  
Ying Wan ◽  
Tingwen Huang
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Communication Graphs ◽  
Event Triggered

scholarly journals Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths

2015 ◽  
Vol 2015 ◽  
pp. 1-17 ◽  
Author(s):  
J. F. Flores-Resendiz ◽  
E. Aranda-Bricaire ◽  
J. González-Sierra ◽  
J. Santiaguillo-Salinas
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Formation Control ◽  
Vector Fields ◽  
Control Law ◽  
Closed Loop System ◽  
Focus Structure ◽  
Communication Graphs ◽  
Cyclic Pursuit ◽  
Unstable Focus

This paper addresses the formation control problem without collisions for multiagent systems. A general solution is proposed for the case of any number of agents moving on a plane subject to communication graph composed of cyclic paths. The control law is designed attending separately the convergence to the desired formation and the noncollision problems. First, a normalized version of the directed cyclic pursuit algorithm is proposed. After this, the algorithm is generalized to a more general class of topologies, including all the balanced formation graphs. Once the finite-time convergence problem is solved we focus on the noncollision complementary requirement adding a repulsive vector field to the previous control law. The repulsive vector fields display an unstable focus structure suitably scaled and centered at the position of the rest of agents in a certain radius. The proposed control law ensures that the agents reach the desired geometric pattern in finite time and that they stay at a distance greater than or equal to some prescribed lower bound for all times. Moreover, the closed-loop system does not exhibit undesired equilibria. Numerical simulations and real-time experiments illustrate the good performance of the proposed solution.

scholarly journals Finite-Time Consensus for Linear Multiagent Systems via Event-Triggered Strategy Without Continuous Communication

2020 ◽  
Vol 7 (1) ◽  
pp. 19-29 ◽  
Author(s):  
Changkun Du ◽  
Xiangdong Liu ◽  
Wei Ren ◽  
Pingli Lu ◽  
Haikuo Liu
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Event Triggered

Finite-time robust consensus of nonlinear disturbed multiagent systems via two-layer event-triggered control

2018 ◽  
Vol 466 ◽  
pp. 270-283 ◽  
Author(s):  
Leimin Wang ◽  
Ming-Feng Ge ◽  
Zhigang Zeng ◽  
Junhao Hu
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Robust Consensus ◽  
Event Triggered
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