Self-triggered network coordination over noisy communication channels

Abstract

This paper investigates coordination problems over packet-based communication channels. We consider the scenario in which the communication between network nodes is corrupted by unknown-but-bounded noise. We introduce a novel coordination scheme, which ensures practical consensus in the noiseless case, while preserving bounds on the nodes disagreement in the noisy case. The proposed scheme does not require any global information about the network parameters and/or the operating environment (the noise characteristics). Moreover, network nodes can sample at independent rates and in an aperiodic manner. The analysis is substantiated by extensive numerical simulations.

Trajectory Convergence From Coordinate-Wise Decrease of Quadratic Energy Functions, and Applications to Platoons

“…For disturbances below a certain threshold they further show convergence by showing that V = 1 2 x T Lx decreases by an amount that can be uniformly bounded from below after each triggering event, so that the total number of triggering times should be finite. Condition (7) is satisfied in the framework of [20], so our results also directly ensure the convergence part of theirs. This supports our hope that our results will serve as convenient tools for stability analysis in different settings.…”

“…In a similar setting, [20] introduces a self-triggered scheme not relying on the knowledge of a bound on the disturbance, and guaranteeing bounded trajectories. For disturbances below a certain threshold they further show convergence by showing that V = 1 2 x T Lx decreases by an amount that can be uniformly bounded from below after each triggering event, so that the total number of triggering times should be finite.…”

Self-Triggered Network Coordination Over Noisy Communication Channels

“…In fact, it is simple to see that the analysis of Section IV carries over to the case of delays in a similar manner by replacing t i k with s i k and |w| ∞ with |w| ∞ + τ max . Due to the lack of space, details are omitted but can be found in [31].…”

“…A preliminary version of the manuscript appeared in [26]. Compared with the latter, this paper provides complete proofs of the results, a thorough discussion of the proposed method, and extensive numerical results for large-scale networks.…”

Trajectory convergence from coordinate-wise decrease of general energy functions

“…Think of discrete communications in cyber-physical applications, systems designed to be robust to adversarial input signals that could depend on the trajectory and its history, or systems involving some random decisions (though more complex descriptions may be available, see [6,14]). Similarly, many modern control laws are not easily described by a continuous field f , think, e.g., of event-triggered or self-triggered mechanisms [7,12]. Hence it is desirable to have results guaranteeing the convergence of a single trajectory based on properties satisfied along that specific trajectory without assuming or constructing a corresponding vector field, nor speculating about the properties of potential other trajectories.…”