A new distributed Zeno-free event-triggered algorithm for multi-agent consensus

Zhiyong Sun; Na Huang; Brian D.O. Anderson; Zhisheng Duan

doi:10.1109/CDC.2016.7798785

A new distributed Zeno-free event-triggered algorithm for multi-agent consensus

Zhiyong Sun, Na Huang, Brian D.O. Anderson, Zhisheng Duan

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

20 Citations (Scopus)

Abstract

This paper develops a novel distributed event-triggered algorithm for achieving multi-agent consensus while guaranteeing a fully Zeno-free triggering for all the agents. In this framework, the controller input and event detector are based on local measurements in terms of relative states with respect to neighboring agents, and each agent updates its control input only at its own triggering instants. A bounded and convergent function is included in the event detector function for each agent, which avoids the comparison of event error term to a zero threshold in the zero-crossing scenario. We also revisit several popular event-triggered consensus algorithms reported in the literature, clarify some issues relating to Zeno triggering, consensus convergence, communication/measurement requirements, local/global coordinate frames, etc., and highlight the advantages of the event-triggered consensus algorithm proposed in this paper.

Original language	English
Title of host publication	2016 IEEE 55th Conference on Decision and Control, CDC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3444-3449
Number of pages	6
ISBN (Electronic)	9781509018376
DOIs	https://doi.org/10.1109/CDC.2016.7798785
Publication status	Published - 27 Dec 2016
Event	55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States Duration: 12 Dec 2016 → 14 Dec 2016

Publication series

Name	2016 IEEE 55th Conference on Decision and Control, CDC 2016

Conference

Conference	55th IEEE Conference on Decision and Control, CDC 2016
Country/Territory	United States
City	Las Vegas
Period	12/12/16 → 14/12/16

Access to Document

10.1109/CDC.2016.7798785

Cite this

Sun, Z., Huang, N., Anderson, B. D. O., & Duan, Z. (2016). A new distributed Zeno-free event-triggered algorithm for multi-agent consensus. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 3444-3449). Article 7798785 (2016 IEEE 55th Conference on Decision and Control, CDC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798785

@inproceedings{15ad17b30b5747d8a50a04aa406967af,

title = "A new distributed Zeno-free event-triggered algorithm for multi-agent consensus",

abstract = "This paper develops a novel distributed event-triggered algorithm for achieving multi-agent consensus while guaranteeing a fully Zeno-free triggering for all the agents. In this framework, the controller input and event detector are based on local measurements in terms of relative states with respect to neighboring agents, and each agent updates its control input only at its own triggering instants. A bounded and convergent function is included in the event detector function for each agent, which avoids the comparison of event error term to a zero threshold in the zero-crossing scenario. We also revisit several popular event-triggered consensus algorithms reported in the literature, clarify some issues relating to Zeno triggering, consensus convergence, communication/measurement requirements, local/global coordinate frames, etc., and highlight the advantages of the event-triggered consensus algorithm proposed in this paper.",

author = "Zhiyong Sun and Na Huang and Anderson, {Brian D.O.} and Zhisheng Duan",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 55th IEEE Conference on Decision and Control, CDC 2016 ; Conference date: 12-12-2016 Through 14-12-2016",

year = "2016",

month = dec,

day = "27",

doi = "10.1109/CDC.2016.7798785",

language = "English",

series = "2016 IEEE 55th Conference on Decision and Control, CDC 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3444--3449",

booktitle = "2016 IEEE 55th Conference on Decision and Control, CDC 2016",

address = "United States",

}

Sun, Z, Huang, N, Anderson, BDO & Duan, Z 2016, A new distributed Zeno-free event-triggered algorithm for multi-agent consensus. in 2016 IEEE 55th Conference on Decision and Control, CDC 2016., 7798785, 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 3444-3449, 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, United States, 12/12/16. https://doi.org/10.1109/CDC.2016.7798785

A new distributed Zeno-free event-triggered algorithm for multi-agent consensus. / Sun, Zhiyong; Huang, Na; Anderson, Brian D.O. et al.
2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 3444-3449 7798785 (2016 IEEE 55th Conference on Decision and Control, CDC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A new distributed Zeno-free event-triggered algorithm for multi-agent consensus

AU - Sun, Zhiyong

AU - Huang, Na

AU - Anderson, Brian D.O.

AU - Duan, Zhisheng

PY - 2016/12/27

Y1 - 2016/12/27

N2 - This paper develops a novel distributed event-triggered algorithm for achieving multi-agent consensus while guaranteeing a fully Zeno-free triggering for all the agents. In this framework, the controller input and event detector are based on local measurements in terms of relative states with respect to neighboring agents, and each agent updates its control input only at its own triggering instants. A bounded and convergent function is included in the event detector function for each agent, which avoids the comparison of event error term to a zero threshold in the zero-crossing scenario. We also revisit several popular event-triggered consensus algorithms reported in the literature, clarify some issues relating to Zeno triggering, consensus convergence, communication/measurement requirements, local/global coordinate frames, etc., and highlight the advantages of the event-triggered consensus algorithm proposed in this paper.

AB - This paper develops a novel distributed event-triggered algorithm for achieving multi-agent consensus while guaranteeing a fully Zeno-free triggering for all the agents. In this framework, the controller input and event detector are based on local measurements in terms of relative states with respect to neighboring agents, and each agent updates its control input only at its own triggering instants. A bounded and convergent function is included in the event detector function for each agent, which avoids the comparison of event error term to a zero threshold in the zero-crossing scenario. We also revisit several popular event-triggered consensus algorithms reported in the literature, clarify some issues relating to Zeno triggering, consensus convergence, communication/measurement requirements, local/global coordinate frames, etc., and highlight the advantages of the event-triggered consensus algorithm proposed in this paper.

UR - http://www.scopus.com/inward/record.url?scp=85010831577&partnerID=8YFLogxK

U2 - 10.1109/CDC.2016.7798785

DO - 10.1109/CDC.2016.7798785

M3 - Conference contribution

T3 - 2016 IEEE 55th Conference on Decision and Control, CDC 2016

SP - 3444

EP - 3449

BT - 2016 IEEE 55th Conference on Decision and Control, CDC 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 55th IEEE Conference on Decision and Control, CDC 2016

Y2 - 12 December 2016 through 14 December 2016

ER -

A new distributed Zeno-free event-triggered algorithm for multi-agent consensus

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this