Pulse width modulation for multi-agent systems

This paper studies the consensus problem for multi-agent systems. A distributed consensus algorithm is developed by constructing homogeneous pulse width modulators for agents in the network. In particular, a certain percentage of the sampling period named duty cycle is modulated according to some st...

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Main Authors: Meng, Xiangyu, Meng, Ziyang, Chen, Tongwen, Dimarogonas, Dimos V., Johansson, Karl Henrik
其他作者: School of Electrical and Electronic Engineering
格式: Article
語言:English
出版: 2017
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在線閱讀:https://hdl.handle.net/10356/80813
http://hdl.handle.net/10220/43441
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機構: Nanyang Technological University
語言: English
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總結:This paper studies the consensus problem for multi-agent systems. A distributed consensus algorithm is developed by constructing homogeneous pulse width modulators for agents in the network. In particular, a certain percentage of the sampling period named duty cycle is modulated according to some state difference with respect to the neighbors at each sampling instant. During each duty cycle, the amplitude of the pulse is fixed. The proposed pulse width modulation scheme enables all agents to sample asynchronously with arbitrarily large sampling periods. It provides an alternative digital implementation strategy for multi-agent systems. We show that consensus is achieved asymptotically under the proposed scheme. The results are compared with the self-triggered ternary controller.