Title

Event based agreement protocols for multi-agent networks

Document Type

Article

Publication Date

7-1-2013

Abstract

Abstract This paper considers an average consensus problem for multiple integrators over fixed, or switching, undirected and connected network topologies. Event based control is used on each agent to drive the state to their initial average eventually. An event triggering scheme is designed based on a quadratic Lyapunov function. The derivative of the Lyapunov function is made negative by an appropriate choice of the event condition for each agent. The event condition is sampled-data and distributed in the sense that the event detector uses only neighbor information and local computation at discrete sampling instants. The event based protocol design is illustrated with simulations. © 2013 Published by Elsevier Ltd.

Publication Source (Journal or Book title)

Automatica

First Page

2125

Last Page

2132

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