On Game Theory-based Self-triggered Consensus Tracking
M. Jeslin Jacob, Ajul Dinesh, Ameer K. Mulla · IFAC-PapersOnLine · 2024
This paper presents a consensus tracking control scheme for multi-agent system in leader-follower configuration, communicating over a directed spanning tree rooted at the leader. The agents are assumed to have double-integrator dynamics with bounded control inputs and subjected to bounded external disturbances. The consensus problem of disturbance-affected multi-agent system is solved by considering a pursuit-evasion game within each directed branch of the communication tree. Unlike general pursuit-evasion games that rely on continuous state information, the pursuer employs a self-triggered pursuit strategy that updates the control law at specific sampling instants determined by the pursuer. Simulation results verify that, with the self-triggered control for the followers, consensus tracking of the multi-agent system to the leader agent is achieved in a finite time, with a finite number of information updates.