Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(7): 2074-2084

https://doi.org/10.1007/s12555-023-0409-4

© The International Journal of Control, Automation, and Systems

A Hybrid Systems Approach to Consensus of Nonlinear Multi-agent Systems With Self-triggered Output Feedback Control

Wenliang Pei, Changchun Hua, Hailong Cui, and Guanglei Zhao*

Yanshan University

Abstract

This paper develops a hybrid systems approach to address the self-triggered leader-following consensus problem of nonlinear multi-agent systems. First, a distributed dynamic output feedback consensus control protocol is proposed, and a novel hybrid dynamic self-triggering mechanism (HDSTM), which can provide a pre-designable minimum triggering interval (MITI) for the adjacent events, is developed to reduce the usage of communication resources. Then, by means of internal variables, a hybrid model, including both flow and jump dynamics, is constructed to describe the closed-loop dynamics. Based on this hybrid model, Lyapunov-based consensus analysis and HDSTM design results are derived. Compared to the existing related works, the main superiority of the proposed approach is that the inter-event communication intervals can always be computed in advance and no less than the given MITI. Finally, a numerical example is provided to show the effectiveness.

Keywords Consensus, hybrid dynamic self-triggering mechanism, hybrid systems, nonlinear multi-agent systems.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(7): 2074-2084

Published online July 1, 2024 https://doi.org/10.1007/s12555-023-0409-4

Copyright © The International Journal of Control, Automation, and Systems.

A Hybrid Systems Approach to Consensus of Nonlinear Multi-agent Systems With Self-triggered Output Feedback Control

Wenliang Pei, Changchun Hua, Hailong Cui, and Guanglei Zhao*

Yanshan University

Abstract

This paper develops a hybrid systems approach to address the self-triggered leader-following consensus problem of nonlinear multi-agent systems. First, a distributed dynamic output feedback consensus control protocol is proposed, and a novel hybrid dynamic self-triggering mechanism (HDSTM), which can provide a pre-designable minimum triggering interval (MITI) for the adjacent events, is developed to reduce the usage of communication resources. Then, by means of internal variables, a hybrid model, including both flow and jump dynamics, is constructed to describe the closed-loop dynamics. Based on this hybrid model, Lyapunov-based consensus analysis and HDSTM design results are derived. Compared to the existing related works, the main superiority of the proposed approach is that the inter-event communication intervals can always be computed in advance and no less than the given MITI. Finally, a numerical example is provided to show the effectiveness.

Keywords: Consensus, hybrid dynamic self-triggering mechanism, hybrid systems, nonlinear multi-agent systems.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

Stats or Metrics

Share this article on

  • line

Related articles in IJCAS

IJCAS

eISSN 2005-4092
pISSN 1598-6446