Modern Graph Theory

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.

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An Overview of Recent Advances in Event-Triggered Consensus of Multiagent Systems

A survey on security control and attack detection for industrial cyber-physical systems

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L2 Gain And Passivity Techniques In Nonlinear Control

This paper provides an overview and makes a deep investigation on sampled-data-based event-triggered control and filtering for networked systems. Compared with some existing event-triggered and self-triggered schemes, a sampled-data-based event-triggered scheme can ensure a positive minimum inter-event time and make it possible to jointly design suitable feedback controllers and event-triggered threshold parameters. Thus, more attention has been paid to the sampled-data-based event-triggered scheme. A deep investigation is first made on the sampled-data-based event-triggered scheme. Then, recent results on sampled-data-based event-triggered state feedback control, dynamic output feedback control, $H_\infty$ filtering for networked systems are surveyed and analyzed. An overview on sampled-data-based event-triggered consensus for distributed multiagent systems is given. Finally, some challenging issues are addressed to direct the future research.

An Overview and Deep Investigation on Sampled-Data-Based Event-Triggered Control and Filtering for Networked Systems

Networked control systems are often subject to limited communication resources. By only communicating output measurements when needed, event-triggered control is an adequate method to reduce the usage of communication resources while retaining desired closed-loop performance. In this work, a novel event-triggered control (ETC) strategy for a class of nonlinear feedback systems is proposed that can simultaneously guarantee a finite $\mathcal{L}_{p}$ - gain and a strictly positive lower bound on the inter-event times. The new ETC scheme can be synthesized in an output-based and/or decentralized form, takes the specific medium access protocols into account, and is robust to (variable) transmission delays by design. Interestingly, in contrast with the majority of existing event-generators that only use static conditions, the newly proposed event-triggering conditions are based on dynamic elements, which has several advantages including larger average inter-event times. The developed theory leads to families of event-triggered controllers that correspond to different tradeoffs between (minimum and average) inter-event times, maximum allowable delays and $\mathcal{L}_{p}$ - gains. A linear and a nonlinear numerical example will illustrate all the benefits of this new dynamic ETC scheme.

Output-Based and Decentralized Dynamic Event-Triggered Control With Guaranteed $\mathcal{L}_{p}$- Gain Performance and Zeno-Freeness

In this paper, we propose a systematic design framework for output-based dynamic event-triggered control (ETC) systems under denial-of-service (DoS) attacks. These malicious DoS attacks are intended to interfere with the communication channel causing periods in time at which transmission of measurement data is impossible. We show that the proposed ETC scheme, if well designed, can tolerate a class of DoS signals characterized by frequency and duration properties without jeopardizing the stability, performance and Zeno-freeness of the ETC system. In fact, the design procedure of the ETC condition allows tradeoffs between performance, robustness to DoS attacks, and utilization of communication resources. The main results will be illustrated by means of a numerical example.

/pdf/event-triggered-control-systems-under-denial-of-service-58w234esqu.pdf

Event-Triggered Control Systems Under Denial-of-Service Attacks

Cooperative adaptive cruise control (CACC) is a promising technology that is proven to enable the formation of vehicle platoons with small inter-vehicle distances, while avoiding amplifications of disturbances along the vehicle string. As such, CACC systems can potentially improve road safety, traffic throughput and fuel consumption due to the reduction in aerodynamic drag. Dedicated short range communication (DSRC) is a key ingredient in CACC systems to overcome the limitations of onboard sensors. However, wireless communication also involves inevitable network-induced imperfections, such as a limited communication bandwidth and time-varying transmission delays. Moreover, excessive utilization of communication resources jeopardizes the reliability of the DSRC channel. The latter might restrict the minimum time gap that can be realized safely. As a consequence, to harvest all the benefits of CACC, it is important to limit the communication to only the information that is actually required to establish a (string-)stable platoon over the wireless network and to avoid unnecessary transmissions. For this reason, an event-triggered control scheme and communication strategy is developed that takes into account the aforementioned network-induced imperfections and that aims to reduce the utilization of communication resources, while maintaining the desired closed-loop performance properties. The resulting $\mathcal {L}_{2}$ string-stable control strategy is experimentally validated by means of a platoon of three passenger vehicles.

/pdf/event-triggered-control-for-string-stable-vehicle-platooning-1arsidxxhe.pdf

Event-Triggered Control for String-Stable Vehicle Platooning

Event-triggered control systems under packet losses

In event-triggered control (ETC) systems, the measured state or output of the plant is sent to the controller at so-called event times . In many ETC systems, these event times are generated based on a static function of the current state or output measurement of the system and its sampled-and-held version that is available to the controller. Hence, the event-generator does not include any dynamics of its own. In contrast, dynamic event-generators trigger events based on additional dynamic variables, whose dynamics depend on the state or output of the system. In this paper, we propose new static and dynamic continuous event-generators (which require continuous measuring of the plant output) and periodic event-generators (which only require periodic sampling of the plant output) for linear control systems with communication delays. All event-generators we propose lead to closed-loop systems which are globally exponentially stable with a guaranteed decay rate, $\mathcal L_2$ -stable with a guaranteed $\mathcal L_2$ -gain, and have a guaranteed positive minimum inter-event time. By using new Riccati-based analysis tools tailored to linear systems, the conservatism in our decay rate and $\mathcal L_2$ -gain estimates is small. The dynamic event-generators even further reduce this conservatism, and as a result typically generate significantly fewer events than their static counterparts, while guaranteeing the same control performance. The benefits of these new event-generators are demonstrated via two numerical examples.

V.S. Dolk

Papers

Output-Based and Decentralized Dynamic Event-Triggered Control With Guaranteed $\mathcal{L}_{p}$- Gain Performance and Zeno-Freeness

Event-Triggered Control Systems Under Denial-of-Service Attacks

Event-Triggered Control for String-Stable Vehicle Platooning

Event-triggered control systems under packet losses

Riccati-Based Design of Event-Triggered Controllers for Linear Systems With Delays