Event-based broadcasting for multi-agent average consensus

doi:10.1016/J.AUTOMATICA.2012.08.042

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Event-based broadcasting for multi-agent average consensus

Journal Article•DOI•

Event-based broadcasting for multi-agent average consensus

Georg S. Seyboth¹, Dimos V. Dimarogonas², Karl Henrik Johansson²•Institutions (2)

University of Stuttgart¹, Royal Institute of Technology²

01 Jan 2013-Automatica (Elsevier)-Vol. 49, Iss: 1, pp 245-252

TL;DR: A novel control strategy for multi-agent coordination with event-based broadcasting is presented, in which each agent decides itself when to transmit its current state to its neighbors and the local control laws are based on these sampled state measurements.

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About: This article is published in Automatica.The article was published on 2013-01-01. It has received 1077 citations till now. The article focuses on the topics: Multi-agent system.

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Journal Article•DOI•

Input-to-State Stabilizing Control Under Denial-of-Service

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Claudio De Persis, Pietro Tesi

27 Mar 2015-IEEE Transactions on Automatic Control

TL;DR: This paper analyzes networked control systems in the presence of denial-of-service (DoS) attacks, namely attacks that prevent transmissions over the network, to characterize frequency and duration of the DoS attacks under which input-to-state stability (ISS) of the closed-loop system can be preserved.

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Abstract: The issue of cyber-security has become ever more prevalent in the analysis and design of networked systems. In this paper, we analyze networked control systems in the presence of denial-of-service (DoS) attacks, namely attacks that prevent transmissions over the network. We characterize frequency and duration of the DoS attacks under which input-to-state stability (ISS) of the closed-loop system can be preserved. To achieve ISS, a suitable scheduling of the transmission times is determined. It is shown that the considered framework is flexible enough so as to allow the designer to choose from several implementation options that can be used for trading-off performance versus communication resources. Examples are given to substantiate the analysis.

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794 citations

Journal Article•DOI•

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

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Lei Ding¹, Qing-Long Han¹, Xiaohua Ge¹, Xian-Ming Zhang¹•Institutions (1)

Swinburne University of Technology¹

01 Apr 2018-IEEE Transactions on Systems, Man, and Cybernetics

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.

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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.

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770 citations

Cites background or methods from "Event-based broadcasting for multi-..."

...Subsequently, a great number of research results on distributed event-triggered consensus of MASs have been reported from various perspectives [55]–[61], which have been briefly reviewed in [62]–[64]....
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...For MASs with singleintegrators and double-integrators, the scheme (7) is used in [55] to achieve consensus with convergence to a neighbor ball of equilibrium if c0 = 0....
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...Then, the distributed event-triggered scheme is given by [55], [83]...
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...Note that ETCs used in the literature are mainly: a) centralized [54]: using all the agents’ measurement information; b) decentralized [55], [66], [67]: using its own information; and c) distributed [56], [57], [60]: using the information from itself and its neighbors....
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Journal Article•DOI•

Technical communique: Distributed event-triggered control of multi-agent systems with combinational measurements

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Yuan Fan¹, Gang Feng², Yong Wang³, Cheng Song⁴•Institutions (4)

Anhui University¹, City University of Hong Kong², University of Science and Technology of China³, Nanjing University of Science and Technology⁴

01 Feb 2013-Automatica

TL;DR: A combinational measurement approach to event design and a new iterative event-triggered algorithm where continuous measurement of the neighbor states is avoided are proposed, which reduces the amount of communication and lowers the frequency of controller updates in practice.

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689 citations

Journal Article•DOI•

Recent Advances in Consensus of Multi-Agent Systems: A Brief Survey

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Jiahu Qin¹, Qichao Ma¹, Yang Shi², Long Wang³•Institutions (3)

University of Science and Technology of China¹, University of Victoria², Peking University³

01 Jun 2017-IEEE Transactions on Industrial Electronics

TL;DR: Focusing on different kinds of constraints on the controller and the self-dynamics of each individual agent, as well as the coordination schemes, the recent results are categorized into consensus with constraints, event-based consensus, consensus over signed networks, and consensus of heterogeneous agents.

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Abstract: In this paper, we mainly review the topics in consensus and coordination of multi-agent systems, which have received a tremendous surge of interest and progressed rapidly in the past few years. Focusing on different kinds of constraints on the controller and the self-dynamics of each individual agent, as well as the coordination schemes, we categorize the recent results into the following directions: consensus with constraints, event-based consensus, consensus over signed networks, and consensus of heterogeneous agents. We also review some applications of the very well developed consensus algorithms to the topics such as economic dispatch problem in smart grid and k -means clustering algorithms.

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595 citations

Cites background or methods from "Event-based broadcasting for multi-..."

...2) Threshold: The state-independent thresholds [83], [120], [122] are some decreasing functions with nonnegative lower bounds, which usually take the form of ci + die−αi t with ci + di > 0, ci ≥ 0, di ≥ 0, and αi > 0....
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...include single-integrator consensus [18], [83], [120], doubleintegrator consensus [6], [40], [83], consensus of generic linear MASs [46], [105], [122], consensus of nonlinear MASs [36],...
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...different forms, which are, respectively, trivial form [15], [46], [83], [120], combinational form [18], [36], [122], and modelbased form [21]; while the threshold can be simply divided into state independent [83], [120], [122], state dependent [15], [18], [21], [36], [46], [120], and hybrid [46], [122] categories....
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...[83], where the triggering of the event makes two agent connected via an undirected edge to update their controllers based only on the states of their own [102]....
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..., then the trivial measurement error [15], [46], [83], [120] can be described as...
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Journal Article•DOI•

A distributed event-triggered transmission strategy for sampled-data consensus of multi-agent systems

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Ge Guo¹, Lei Ding¹, Lei Ding², Qing-Long Han²•Institutions (2)

Dalian Maritime University¹, Central Queensland University²

01 May 2014-Automatica

TL;DR: A sampled-data consensus control protocol is presented, with which the consensus of distributed multi-agent systems can be transformed into the stability of a system with a time-varying delay.

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589 citations

Cites result from "Event-based broadcasting for multi-..."

...According to Sun and Wang (2009), we have that z(t) = (E1 ⊗ In)x(t), x(t) = (E2 ⊗ In)z(t) + (1 ⊗ In)x1(t), E(kh) = (E1 ⊗ In)e(kh) and e(kh) = (E2 ⊗ In)E(kh) + (1 ⊗ In)e1(kh), respectively, where E1 = [1,−IN−1] and E2 = [0,−IN−1]T ....
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...Similar to the proof in Sun and Wang (2009), we have the following result....
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References

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Journal Article•DOI•

Consensus problems in networks of agents with switching topology and time-delays

[...]

Reza Olfati-Saber¹, Richard M. Murray¹•Institutions (1)

California Institute of Technology¹

13 Sep 2004-IEEE Transactions on Automatic Control

TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.

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Abstract: In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) directed networks with switching topology; and 3) undirected networks with communication time-delays and fixed topology. We introduce two consensus protocols for networks with and without time-delays and provide a convergence analysis in all three cases. We establish a direct connection between the algebraic connectivity (or Fiedler eigenvalue) of the network and the performance (or negotiation speed) of a linear consensus protocol. This required the generalization of the notion of algebraic connectivity of undirected graphs to digraphs. It turns out that balanced digraphs play a key role in addressing average-consensus problems. We introduce disagreement functions for convergence analysis of consensus protocols. A disagreement function is a Lyapunov function for the disagreement network dynamics. We proposed a simple disagreement function that is a common Lyapunov function for the disagreement dynamics of a directed network with switching topology. A distinctive feature of this work is to address consensus problems for networks with directed information flow. We provide analytical tools that rely on algebraic graph theory, matrix theory, and control theory. Simulations are provided that demonstrate the effectiveness of our theoretical results.

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11,658 citations

"Event-based broadcasting for multi-..." refers background or methods in this paper

...The next lemma follows from the results in Olfati-Saber and Murray (2004) and will be useful in the remainder of this paper....
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...Thus, a(t) = a(0) = a for all t ≥ 0 and the state x(t) can be decomposed according to x(t) = a1 + δ(t), where δ(t) is the disagreement vector of the multi-agent system, i.e., 1T δ(t) = 0, following the notation of Olfati-Saber and Murray (2004)....
[...]
...The consensus problem for single-integrator agents is addressed in Olfati-Saber and Murray (2004)....
[...]
...This has also been shown in Olfati-Saber and Murray (2004) using Lyapunov methods....
[...]

Journal Article•DOI•

Consensus and Cooperation in Networked Multi-Agent Systems

[...]

Reza Olfati-Saber¹, J.A. Fax², Richard M. Murray³•Institutions (3)

Dartmouth College¹, Northrop Grumman Corporation², California Institute of Technology³

05 Mar 2007

TL;DR: A theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees is provided.

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Abstract: This paper provides a theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees. An overview of basic concepts of information consensus in networks and methods of convergence and performance analysis for the algorithms are provided. Our analysis framework is based on tools from matrix theory, algebraic graph theory, and control theory. We discuss the connections between consensus problems in networked dynamic systems and diverse applications including synchronization of coupled oscillators, flocking, formation control, fast consensus in small-world networks, Markov processes and gossip-based algorithms, load balancing in networks, rendezvous in space, distributed sensor fusion in sensor networks, and belief propagation. We establish direct connections between spectral and structural properties of complex networks and the speed of information diffusion of consensus algorithms. A brief introduction is provided on networked systems with nonlocal information flow that are considerably faster than distributed systems with lattice-type nearest neighbor interactions. Simulation results are presented that demonstrate the role of small-world effects on the speed of consensus algorithms and cooperative control of multivehicle formations

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9,715 citations

Book•

Algebraic Graph Theory

[...]

Chris Godsil, Gordon F. Royle

01 Jan 2009

TL;DR: The Laplacian of a Graph and Cuts and Flows are compared to the Rank Polynomial.

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Abstract: Graphs.- Groups.- Transitive Graphs.- Arc-Transitive Graphs.- Generalized Polygons and Moore Graphs.- Homomorphisms.- Kneser Graphs.- Matrix Theory.- Interlacing.- Strongly Regular Graphs.- Two-Graphs.- Line Graphs and Eigenvalues.- The Laplacian of a Graph.- Cuts and Flows.- The Rank Polynomial.- Knots.- Knots and Eulerian Cycles.- Glossary of Symbols.- Index.

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8,307 citations

"Event-based broadcasting for multi-..." refers background in this paper

...This section reviews some facts from algebraic graph theory (Godsil & Royle, 2001), and describes the problem setup....
[...]
...In industrial control and automation, there is a growing interest in wireless networks....
[...]

Journal Article•DOI•

Event-Triggered Real-Time Scheduling of Stabilizing Control Tasks

[...]

Paulo Tabuada¹•Institutions (1)

University of California, Los Angeles¹

17 Sep 2007-IEEE Transactions on Automatic Control

TL;DR: This note investigates a simple event-triggered scheduler based on the paradigm that a real-time scheduler could be regarded as a feedback controller that decides which task is executed at any given instant and shows how it leads to guaranteed performance thus relaxing the more traditional periodic execution requirements.

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Abstract: In this note, we revisit the problem of scheduling stabilizing control tasks on embedded processors. We start from the paradigm that a real-time scheduler could be regarded as a feedback controller that decides which task is executed at any given instant. This controller has for objective guaranteeing that (control unrelated) software tasks meet their deadlines and that stabilizing control tasks asymptotically stabilize the plant. We investigate a simple event-triggered scheduler based on this feedback paradigm and show how it leads to guaranteed performance thus relaxing the more traditional periodic execution requirements.

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3,695 citations

"Event-based broadcasting for multi-..." refers background or methods in this paper

...In Tabuada (2007), a triggering mechanism for state feedback controllers is presented....
[...]
...Following the ideas of Tabuada (2007), the authors present a decentralized event-based strategy to determine the control updates such that the overall system reaches average consensus asymptotically....
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Journal Article•DOI•

Smooth stabilization implies coprime factorization

[...]

Eduardo D. Sontag¹•Institutions (1)

Rutgers University¹

01 Jan 1989-IEEE Transactions on Automatic Control

TL;DR: In this paper, it was shown that coprime right factorizations exist for the input-to-state mapping of a continuous-time nonlinear system provided that the smooth feedback stabilization problem is solvable for this system.

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Abstract: It is shown that coprime right factorizations exist for the input-to-state mapping of a continuous-time nonlinear system provided that the smooth feedback stabilization problem is solvable for this system. It follows that feedback linearizable systems admit such fabrications. In order to establish the result, a Lyapunov-theoretic definition is proposed for bounded-input-bounded-output stability. The notion of stability studied in the state-space nonlinear control literature is related to a notion of stability under bounded control perturbations analogous to those studied in operator-theoretic approaches to systems; in particular it is proved that smooth stabilization implies smooth input-to-state stabilization. >

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2,504 citations

Additional excerpts

...A dynamical systemwith state x and input w is called input-tostate stable (ISS) if there exist a class KL function β and a class K function γ such that ∥x(t)∥ ≤ β(∥x(0)∥, t) + γ (∥w[0,t[∥∞) for all t ≥ 0, see Sontag (1989)....
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