Event/Self-Triggered Multi-Agent System Rendezvous with Graph Maintenance
Federico M. Zegers, Dan P. Guralnik, Warren E. Dixon · 2021 60th IEEE Conference on Decision and Control (CDC) · 2021
This paper explores the rendezvous problem for a multi-agent system (MAS) with distance-limited, intermittent communication and sensing. Unlike previous works that pro-vide specific event-triggered controllers, we provide a frame-work that characterize a family of distributed event-triggered controllers leveraging non-singular edge-potentials to achieve approximate rendezvous while maintaining the initial distance-limited graph. The proposed framework excludes the possibility of Zeno behavior and accommodates the development of self-triggered controllers. The combination of continuous and impulsive dynamics results in a hybrid system, where the closed-loop dynamics of the MAS are presented and analyzed using hybrid differential inclusions. The approximate rendezvous problem is recast into a set stabilization problem and sufficient conditions of the rendezvous set are obtained through a Lyapunov-based analysis. Simulation results are provided to validate the development.