Event-Based $H_{\infty}$ Consensus Control of Multi-Agent Systems With Relative Output Feedback: The Finite-Horizon Case

Abstract

In this paper, the H∞ consensus control problem is investigated over a finite horizon for general discrete time-varying multi-agent systems subject to energy-bounded external disturbances. A decentralized estimation-based output feedback control protocol is put forward via the relative output measurements. A novel event-based mechanism is proposed for each intelligent agent to utilize the available information in order to decide when to broadcast messages and update control input. The aim of the problem addressed is to co-design the time-varying controller and estimator parameters such that the controlled multiagent systems achieve consensus with a disturbance attenuation level γ over a finite horizon [0, T ]. A constrained recursive Riccati difference equation approach is developed to derive the sufficient conditions under which the H∞ consensus performance is guaranteed in the framework of event-based scheme. Furthermore, the desired controller and estimator parameters can be iteratively computed by resorting to the MoorePenrose pseudo inverse. Finally, the effectiveness of the developed eventbased H∞ consensus control strategy is demonstrated in the numerical simulation.Index Terms-Multi-agent systems; event-based mechanism; H∞ consensus; Riccati difference equation; output feedback.

Distributed networked control systems: A brief overview

“…Sufficient criteria in terms of linear matrix inequalities for designing desired controllers were established to ensure the consensus of all agents. In [39], a consensus problem for general discrete-time time-varying MASs subject to energy-bounded external disturbances was considered. Within the proposed framework, relative measurement outputs among adjacent agents were utilized in the estimator-type consensus protocol.…”

Distributed non-fragile filtering for T-S fuzzy systems with event-based communications

“…In this protocol, the transmission only occurs when a certain event occurs, e.g., the error between the current measurement and the last transmitted one exceeds a certain bound. Event-based control and filtering have received increasing attention and various results have been reported, see [16][17][18][19] and the references therein. In contrast, compared with these time-triggered filtering results, only few results in the context of distributed event-triggered filtering have been reported in literature.…”

Mixed Event/Time‐Triggered Static Output Feedback L2‐Gain Control for Networked Control Systems

“…Our approach can be applied to the event-based synchronization problem of complex dynamical networks (see e.g. [39][40][41][42][43][44][45][46][47]). In the last few decades, complex dynamical networks have attracted a great deal of attention due to their extensive applications in physics, biology, and engineering [39].…”

“…[45][46][47]) to reduce the frequency of individual actuation updating since complex dynamics networks may be resource-limited. Nevertheless, in traditional event-triggered synchronization methods [39][40][41][42][43][44][45][46][47], possible packet dropouts have not been considered. It is known that packet dropouts are unavoidable in some complex dynamical networks.…”