Bio: Fei Hao is an academic researcher from Beihang University. The author has contributed to research in topics: Exponential stability & Control system. The author has an hindex of 14, co-authored 62 publications receiving 839 citations.
TL;DR: In this paper, a sufficient condition is derived to give an event condition, which is designed based on the measurement error and the disagreement vector, and the sufficient condition, described in terms of a linear matrix inequality (LMI), is easily solved by available LMI toolbox.
Abstract: In this study, the event-triggered average consensus control for discrete-time multi-agent systems (MASs) is investigated. Based on a Lyapunov function, a sufficient condition is derived to give an event condition, which is designed based on the measurement error and the disagreement vector. The sufficient condition, described in terms of a linear matrix inequality (LMI), is easily solved by available LMI toolbox. Under this event condition, the event-triggered MAS reaches average consensus. Furthermore, the results are extended to the self-triggered consensus control, where the next task release time can be decided depending on the current sampled data. In addition, a certain restriction on the event condition is proposed in order to avoid Zeno-behaviour. Finally, two simulation examples illustrate the effectiveness of the theoretical results.
TL;DR: It is shown that leader-following practical consensus can be achieved and no Zeno behavior occurs in this case and the proposed control strategies are extended to investigate the leader- following consensus problem for multiagent systems with Lipschitz nonlinear dynamics.
Abstract: This paper studies the leader-following consensus problem for linear and Lipschitz nonlinear multiagent systems where the communication topology has a directed spanning tree with the leader as the root. Due to the constraints of communication bandwidth and storage space, agents can only receive uniform quantized information. We first consider the leader-following consensus problem for linear multiagent systems via quantized control. Then, in order to reduce the communication load, an event-triggered control strategy is investigated to solve the consensus problem for linear multiagent systems with uniform quantization. It is shown that leader-following practical consensus can be achieved and no Zeno behavior occurs in this case. Furthermore, the proposed control strategies are extended to investigate the leader-following consensus problem for multiagent systems with Lipschitz nonlinear dynamics. Simulation results are given to demonstrate the feasibility and effectiveness of the theoretical analysis.
TL;DR: The main contribution of this paper is to extend the event-triggered control method to investigate general linear multi-agent systems to exclude Zeno behaviours of the closed-loop systems.
Abstract: This paper proposes an event-triggered control for multi-agent systems in which all agents have an identical linear dynamic mode. The asynchronous event-triggered control algorithms are proposed based on the triggering time sequences of all agents. The main contribution of this paper is to extend the event-triggered control method to investigate general linear multi-agent systems. First, by applying variable substitution method, we give the asynchronous triggering conditions. Based on the conditions, the consensus can be achieved both under fixed and switching topologies. Meanwhile, all the proposed event-triggered algorithms can exclude Zeno behaviours of the closed-loop systems. Then, the asynchronous results are applied to cope with formation control problem. Finally, numerical simulations are presented to illustrate the effectiveness of the part event-triggered protocol designs.
TL;DR: It is proved that increasing the pre-specified upper bound of inter-event times can only enlarge the input-to-state stability gain but cannot destroy the input -to- state stability.
Abstract: Integral-based event-triggered control utilizes the integrals of system states to construct the event conditions. By this means, the integral-based event-triggered control can relax the requirements on the derivative of the Lyapunov function, and then, may yield better sampling performance. In this paper, the effects of bounded disturbances on the integral-based event-triggered control systems are studied. Results on input-to-state stability with respect to the external disturbances are presented for linear plants with observer-based output feedbacks. An estimation on the upper bound of the input-to-state stability gain is given analytically. Then it is shown that for integral-based event-triggered control, a pre-specified upper bound of inter-event times is necessary to ensure the input-to-state stability. Furthermore, it is proved that increasing the pre-specified upper bound can only enlarge the input-to-state stability gain but cannot destroy the input-to-state stability. Moreover, a positive lower bound of inter-event times is provided to exclude Zeno behaviors. Finally, numerical examples are given to illustrate the efficiency and the feasibility of the proposed results.
TL;DR: This article studies event-triggered control for the prescribed-time bipartite consensus of first-order multiagent systems using the Lyapunov stability theory and the algebraic graph theory to guarantee that all agents reach bipartites consensus in a completely prespecified time.
Abstract: This article studies event-triggered control for the prescribed-time bipartite consensus of first-order multiagent systems. For each agent, the new event-triggered control law and triggering condition are constructed without continuous interneighboring communication. Based on the Lyapunov stability theory and the algebraic graph theory, permissible value ranges of the designed parameters are established to guarantee that all agents reach bipartite consensus in a completely prespecified time. Moreover, a comprehensive theoretical discussion is provided to show that the Zeno behavior can be excluded during the whole time span except the prespecified settling time T. The simulation results demonstrate the feasibility of the provided methods.
01 Jan 2005
TL;DR: In this paper, a number of quantized feedback design problems for linear systems were studied and the authors showed that the classical sector bound approach is non-conservative for studying these design problems.
Abstract: This paper studies a number of quantized feedback design problems for linear systems. We consider the case where quantizers are static (memoryless). The common aim of these design problems is to stabilize the given system or to achieve certain performance with the coarsest quantization density. Our main discovery is that the classical sector bound approach is nonconservative for studying these design problems. Consequently, we are able to convert many quantized feedback design problems to well-known robust control problems with sector bound uncertainties. In particular, we derive the coarsest quantization densities for stabilization for multiple-input-multiple-output systems in both state feedback and output feedback cases; and we also derive conditions for quantized feedback control for quadratic cost and H/sub /spl infin// performances.
TL;DR: An overview of recent advances in event-triggered consensus of MASs is provided and some in-depth analysis is made on several event- Triggered schemes, including event-based sampling schemes, model-based event-Triggered scheme, sampled-data-basedevent-trIGgered schemes), and self- triggered sampling schemes.
Abstract: Event-triggered consensus of multiagent systems (MASs) has attracted tremendous attention from both theoretical and practical perspectives due to the fact that it enables all agents eventually to reach an agreement upon a common quantity of interest while significantly alleviating utilization of communication and computation resources. This paper aims to provide an overview of recent advances in event-triggered consensus of MASs. First, a basic framework of multiagent event-triggered operational mechanisms is established. Second, representative results and methodologies reported in the literature are reviewed and some in-depth analysis is made on several event-triggered schemes, including event-based sampling schemes, model-based event-triggered schemes, sampled-data-based event-triggered schemes, and self-triggered sampling schemes. Third, two examples are outlined to show applicability of event-triggered consensus in power sharing of microgrids and formation control of multirobot systems, respectively. Finally, some challenging issues on event-triggered consensus are proposed for future research.
TL;DR: A brief overview of distributed networked control systems regarding system configurations, challenging issues and methodologies is presented and some potential research directions are suggested.
Abstract: Distributed networked control systems have attracted intense attention from both academia and industry due to the multidisciplinary nature among the areas of communication networks, computer science and control. With ever-increasing research trends in these areas, it is desirable to review recent advances and to identify methodologies for distributed networked control systems. This paper presents a brief overview of such systems regarding system configurations, challenging issues and methodologies. First, networked control systems are introduced and their prevalent configurations including centralized, decentralized and distributed structures are outlined. Second, an emphasis is laid on a number of challenging issues from the analysis and synthesis of distributed networked control systems. More specifically, these challenging issues are identified through three integrated aspects: communication, computation and control. Third, different methodologies in the literature for distributed networked control systems are reviewed and categorized based on three pairs: undirected and directed graphs, fixed and time-varying topologies, and time-triggered and event-triggered mechanisms. Finally, concluding remarks are drawn and some potential research directions are suggested.
TL;DR: A survey of trends and techniques in networked control systems from the perspective of ‘ control over networks ’ is presented, providing a snapshot of five control issues: sampled-data control, quantization control, networking control, event-triggered control, and security control.
Abstract: Networked control systems are spatially distributed systems in which the communication between sensors, actuators, and controllers occurs through a shared band-limited digital communication network. Several advantages of the network architectures include reduced system wiring, plug and play devices, increased system agility, and ease of system diagnosis and maintenance. Consequently, networked control is the current trend for industrial automation and has ever-increasing applications in a wide range of areas, such as smart grids, manufacturing systems, process control, automobiles, automated highway systems, and unmanned aerial vehicles. The modelling, analysis, and control of networked control systems have received considerable attention in the last two decades. The ‘ control over networks ’ is one of the key research directions for networked control systems. This paper aims at presenting a survey of trends and techniques in networked control systems from the perspective of ‘ control over networks ’ , providing a snapshot of five control issues: sampled-data control, quantization control, networked control, event-triggered control, and security control. Some challenging issues are suggested to direct the future research.
TL;DR: It is proved that under the proposed ETCC there is no Zeno behavior exhibited, and a self-triggered consensus controller (STCC) is proposed to relax the requirement of continuous monitoring of each agent's own states.
Abstract: In this paper, the event-triggered consensus problem is studied for multi-agent systems with general linear dynamics under a general directed graph. Based on state feedback, we propose a decentralized event-triggered consensus controller (ETCC) for each agent to achieve consensus, without requiring continuous communication among agents. Each agent only needs to monitor its own state continuously to determine when to trigger an event and broadcast its states to its out-neighbors. The agent updates its controller when it broadcasts its states to its out-neighbors or receives new information from its in-neighbors. The ETCC can be implemented in multiple steps. it is proved that under the proposed ETCC there is no Zeno behavior exhibited. To relax the requirement of continuous monitoring of each agent's own states, we further propose a self-triggered consensus controller (STCC). Simulation results are given to illustrate the theoretical analysis and show the advantages of the event-triggered and self-triggered controllers proposed in this paper.