Event-Triggered Controller Design for Multi-Agent Systems
Résumé
This chapter presents an event-triggered controller design for multi-agent systems, where the data transmission among agents is governed by event-triggered mechanisms. The dynamic event-triggered control with the full-state observer is introduced, with a particular concern of reducing communication frequency through designable inter-event time. An extension to directed topology, where the communication is restricted to single directions, is also discussed. The proposed methods follow the co-design principle, where the parameters of controllers, observers, and event-triggered mechanisms are synthesized simultaneously. Following a distributed design principle, only local information is required in a small range of nearby neighbors to compute the control signal and the event-triggered condition. Zeno behavior is proved to be excluded. Finally, the proposed approaches are demonstrated by a numerical example and compared with other methods to validate their effectiveness.