An Event-Triggered Observer and Its Applications in Cooperative Control of Multiagent Systems

• 成果类型: Article
• 署名作者: Dong, Yi; Lin, Zongli
• 署名单位: Tongji University; University of Virginia
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3105322
• 发表日期: 2022
• 页码: 3647-3654
• 关键词: Observers; Multi-agent systems; trajectory; Closed loop systems; system dynamics; Linear systems; communication networks; Distributed event-triggered observer; event-triggered cooperative control; Heterogeneous multiagent systems; hybrid systems

摘要

This article proposes an event-triggered control design for cooperative control of heterogeneous multiagent systems. The design is serial in nature and consists of the design of a distributed event-triggered observer for each follower agent that estimates the desired information of the leader system in the presence of parametric uncertainty and, based on this observer, the design of a distributed event-triggered controller. A salient feature of our observer design is that it obeys the separation principle in the sense that the event-triggered control can be designed after the observer has been designed. As a result, the observer is applicable to different follower agent dynamics and the event-triggered time sequence for the controller is asynchronous of that of the observer. We implement this design scheme on linear heterogeneous multiagent systems and uncertain Euler-Lagrange multiagent systems, and achieve results that significantly extend the existing ones.