Periodic Event-Triggered Consensus Using Relative-State Measurements: A Hybrid System Approach
Jiang Li, Mani H. Dhullipalla, Tongwen Chen · IFAC-PapersOnLine · 2024
Often in practical applications, such as coordinated motion of autonomous vehicles, multi-agent systems (MASs) utilize information obtained from sensors to accomplish complex tasks, asynchronously. In this work, we consider the problem of consensus where the agents obtain relative-state measurements, at their own sampling frequencies, and employ a distributed event-triggered protocol to dictate when to update control. For the designed event-triggered protocol, only local intermittent relative-state measurements are utilized, where they are obtained and evaluated only at pre-determined event-monitoring instants; these instants are governed by sampling periods whose bounds are explicitly pre-computed, individually, for each agent. Hence, the designed protocol is inherently asynchronous and avoid Zeno behaviour by construction. To cope with the continuous-time dynamics of the agents and discrete-time sensing and controller updates, the overall MAS is modelled using the hybrid system framework. A numerical example is provided to clearly demonstrate the effectiveness of the designed protocol.