Event-based multi-agent cooperative control with quantized relative state measurements

Qingchen Liu; Jiahu Qin; Changbin Yu

doi:10.1109/CDC.2016.7798595

Event-based multi-agent cooperative control with quantized relative state measurements

Qingchen Liu, Jiahu Qin, Changbin Yu

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

10 Citations (Scopus)

Abstract

In this paper, we develop two event-triggered controllers with quantized relative state measurements to achieve consensus for an undirected network where each agent is modelled by single integrator dynamics. Both uniform and logarithmic quantizers are considered, which, together with two different controllers, yield four cases of study in this paper. The quantized information is used to update the control input as well as to determine the next trigger event. We show that approximate consensus can be achieved by the proposed algorithms and Zeno behavior can be completely excluded if constant offsets with some computable lower bounds are added to the trigger conditions. Numerical simulations are provided to illustrate the effectiveness of each proposed algorithm.

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	2233-2239
Number of pages	7
ISBN (Electronic)	9781509018376
DOIs	https://doi.org/10.1109/CDC.2016.7798595
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

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10.1109/CDC.2016.7798595

Cite this

Liu, Q., Qin, J., & Yu, C. (2016). Event-based multi-agent cooperative control with quantized relative state measurements. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 2233-2239). Article 7798595 (2016 IEEE 55th Conference on Decision and Control, CDC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798595

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title = "Event-based multi-agent cooperative control with quantized relative state measurements",

abstract = "In this paper, we develop two event-triggered controllers with quantized relative state measurements to achieve consensus for an undirected network where each agent is modelled by single integrator dynamics. Both uniform and logarithmic quantizers are considered, which, together with two different controllers, yield four cases of study in this paper. The quantized information is used to update the control input as well as to determine the next trigger event. We show that approximate consensus can be achieved by the proposed algorithms and Zeno behavior can be completely excluded if constant offsets with some computable lower bounds are added to the trigger conditions. Numerical simulations are provided to illustrate the effectiveness of each proposed algorithm.",

author = "Qingchen Liu and Jiahu Qin and Changbin Yu",

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.2016.7798595",

language = "English",

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

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Liu, Q, Qin, J & Yu, C 2016, Event-based multi-agent cooperative control with quantized relative state measurements. in 2016 IEEE 55th Conference on Decision and Control, CDC 2016., 7798595, 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 2233-2239, 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, United States, 12/12/16. https://doi.org/10.1109/CDC.2016.7798595

Event-based multi-agent cooperative control with quantized relative state measurements. / Liu, Qingchen; Qin, Jiahu; Yu, Changbin.
2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 2233-2239 7798595 (2016 IEEE 55th Conference on Decision and Control, CDC 2016).

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

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N2 - In this paper, we develop two event-triggered controllers with quantized relative state measurements to achieve consensus for an undirected network where each agent is modelled by single integrator dynamics. Both uniform and logarithmic quantizers are considered, which, together with two different controllers, yield four cases of study in this paper. The quantized information is used to update the control input as well as to determine the next trigger event. We show that approximate consensus can be achieved by the proposed algorithms and Zeno behavior can be completely excluded if constant offsets with some computable lower bounds are added to the trigger conditions. Numerical simulations are provided to illustrate the effectiveness of each proposed algorithm.

AB - In this paper, we develop two event-triggered controllers with quantized relative state measurements to achieve consensus for an undirected network where each agent is modelled by single integrator dynamics. Both uniform and logarithmic quantizers are considered, which, together with two different controllers, yield four cases of study in this paper. The quantized information is used to update the control input as well as to determine the next trigger event. We show that approximate consensus can be achieved by the proposed algorithms and Zeno behavior can be completely excluded if constant offsets with some computable lower bounds are added to the trigger conditions. Numerical simulations are provided to illustrate the effectiveness of each proposed algorithm.

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M3 - Conference contribution

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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 -

Event-based multi-agent cooperative control with quantized relative state measurements

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