Distributed Event-triggered Control: Scalability and Robustness

✍ Scribed by Zhongkui Li, Bin Cheng, Weihao Song, Shiqi Zhang

• Publisher: Springer
• Year: 2023
• Tongue: English
• Leaves: 157
• Category: Library

✦ Synopsis

This book focuses on distributed event-triggered control of multi-agent systems, in which the event-triggering mechanism is utilized to reduce the communication frequencies in order to compensate for constrained network bandwidths, an aspect that poses significant challenges for distributed control design. The book summarizes the authors’ original, systematic contributions on scalability and robustness, two core issues in distributed event-triggered control. Specifically, the book presents fully distributed adaptive event-triggered control laws; as they rely on neither continuous communications nor global information on the network, these laws are scalable with regard to network size and topology. Moreover, the book provides novel and robust event-triggered algorithms, which can accommodate various frequency-domain and matching uncertainties.

The results presented here are applicable to UAV swarms, automobile systems, aerospace systems, vehicle platooning, and more, and will be of considerable interest to graduate students, researchers, and engineers working on network control systems.

✦ Table of Contents

Preface
Contents
1 Introduction
1.1 Research Background
1.2 Introduction of Event-Triggered Control
1.3 Multi-Agent Event-Triggered Control
1.4 Scalability and Robustness Issues
1.5 Overview of This Book
2 Mathematical Preliminaries
2.1 Notations
2.2 Graph Theory
2.3 Robust Control, Stability, and Other Tools
2.4 Notes
3 Fully Distributed Consensus Control with Event-Triggered Communication
3.1 Problem Statement
3.2 Linear Event-Triggered Consensus Protocol
3.3 Fully Distributed Adaptive Event-Triggered Consensus Protocol: Type I
3.4 Fully Distributed Adaptive Event-Triggered Consensus Protocol: Type II
3.5 Notes
4 Fully Distributed Event-Triggered Consensus with Discrete Communication and Control
4.1 Problem Statement
4.2 Fully Distributed Event-Based Control for Undirected Graphs
4.3 Fully Distributed Event-Based Control for Strongly Connected Graphs
4.4 Fully Distributed Event-Based Control for Graphs Having a Directed Spanning Tree
4.5 Output Feedback Event-Triggered Control
4.5.1 The Undirected Graph Case
4.5.2 The Directed Graph Case
4.6 Fully Distributed Event-Triggered Control with Relative State Measurements
4.7 Notes
5 Fully Distributed Event-Triggered Affine Formation Control
5.1 Static Formation Control with Event-Triggered Communication
5.2 Affine Formation Control with Event-Triggered Communication
5.2.1 Formulation of Affine Formation Problem
5.2.2 Adaptive Event-Triggered Affine Formation Controllers
5.3 Fully Distributed Affine Formation Control in Presence of Disturbances
5.4 Numerical Simulations and Experimental Validations
5.4.1 Numerical Simulations
5.4.2 Experimental Validations
5.5 Notes
6 Distributed Robust Event-Triggered Control with Matching Uncertainties and Output Regulation
6.1 Robust Event-Triggered Consensus with Matching Uncertainties
6.1.1 Problem Formulation
6.1.2 Robust Adaptive Event-Triggered Consensus Protocols
6.1.3 Simulation Results
6.2 Robust Event-Triggered Tracking Control with Matching Uncertainties
6.2.1 Problem Formulation
6.2.2 Robust Adaptive Event-Triggered Tracking Controllers
6.2.3 Simulation Results
6.3 Distributed Event-Triggered Output Regulation
6.3.1 Problem Formulation
6.3.2 Adaptive Event-Triggered Output Regulation Controllers
6.3.3 Simulation Results
6.4 Notes
7 Distributed Robust Event-Triggered Control with Frequency-Domain Uncertainties
7.1 An Operator-Theoretic Perspective to the Event-Triggering Mechanism
7.2 Robustness Against Additive Node Uncertainties
7.3 Robustness Against Multiplicative Edge Uncertainties
7.4 Extensions to Dynamic Average Consensus
7.5 Simulation Results
7.6 Notes
Correction to: Distributed Event-triggered Control
References