报告内容摘要

In this talk, we introduce the event-triggered consensus problem for multi-agent systems with general linear dynamics under a general directed graph. Based on state feedback, we propose a decentralized event-triggered consensus controller (ETCC) for each agent to achieve consensus, without requiring continuous communication among agents either for control inputs or for triggering conditions. Each agent only needs to monitor its own state continuously to determine when to trigger an event and broadcast its state to its out-neighbors. The agent updates its controller when it broadcasts its state to its out-neighbors or receives new information from its in-neighbors. The ETCC can be implemented in multiple steps. We prove that under the proposed ETCC there is no Zeno behavior exhibited. To relax the requirement of continuous monitoring of each agent’s own state, we further propose a self-triggered consensus controller (STCC). For the case with output feedback, we further propose a distributed observer-based event-triggered consensus controller (OBETCC). Simulation results are given to illustrate the theoretical analysis and show the advantages of the proposed event-triggered and self-triggered controllers.

报告人简介

Wei Ren is currently a Professor with the Department of Electrical and Computer Engineering, University of California, Riverside. He received the Ph.D. degree in Electrical Engineering from Brigham Young University, Provo, UT, in 2004. From 2004 to 2005, he was a Postdoctoral Research Associate with the Department of Aerospace Engineering, University of Maryland, CollegePark He was an Assistant Professor (2005-2010) and an Associate Professor (2010-2011) with the Department of Electrical and Computer Engineering, Utah State University. His research focuses on distributed control of multi-agent systems and autonomous control of unmanned vehicles. Dr. Ren is an author of two books Distributed Coordination of Multi-agent Networks(Springer-Verlag, 2011) and Distributed Consensus in Multi-vehicle Cooperative Control (Springer-Verlag, 2008). He was a recipient of the National Science Foundation CAREER Award in 2008. He is currently an Associate Editor for Automatica, Systems and Control Letters, and IEEE Transactions on Control of Network Systems.

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