Cyber-Physical Control of Indoor Multi-vehicle Testbed for Cooperative Driving

Bemani, Ali; Björsell, Niclas

doi:10.1109/icps48405.2020.9274688

Cited by 5 publications

(1 citation statement)

References 22 publications

(28 reference statements)

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“…Figure 1 shows a cyber representation of a multi-agent system which was introduced in [ 7 ]. Agents are connected through a wireless network to implement a cooperative control with the multiple agents.…”

Section: Introductionmentioning

confidence: 99%

Distributed Event Triggering Algorithm for Multi-Agent System over a Packet Dropping Network

Bemani

Björsell

2021

Sensors

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The availability of wireless networked control systems (WNCSs) has increased the interest in controlling multi-agent systems. Multiple feedback loops are closed over a shared communication network in such systems. An event triggering algorithm can significantly reduce network usage compared to the time triggering algorithm in WNCSs, however, the control performance is insecure in an industrial environment with a high probability of the packet dropping. This paper presents the design of a distributed event triggering algorithm in the state feedback controller for multi-agent systems, whose dynamics are subjected to the external interaction of other agents and under a random single packet drop scenario. Distributed event-based state estimation methods were applied in this work for designing a new event triggering algorithm for multi-agent systems while retaining satisfactory control performance, even in a high probability of packet drop condition. Simulation results for a multi-agent application show the main benefits and suitability of the proposed event triggering algorithm for multi-agent feedback control in WNCSs with packet drop imperfection.

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Section: Introductionmentioning

confidence: 99%