Periodic Event-Triggered Average Consensus over Directed Graphs

• Main Authors: Meng, Xiangyu, Xie, Lihua, Soh, Yeng Chai, Nowzari, Cameron, Pappas, George J.
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2015
• Subjects: Event Triggered Control; Sampled-Data Control; Average Consensus; Multi-Agent Systems
• Online Access: https://hdl.handle.net/10356/81362; http://hdl.handle.net/10220/39231; http://www.cdc2015.ctrl.titech.ac.jp/
• Institution: Nanyang Technological University

This paper considers a multi-agent consensus problem over strongly connected and balanced directed graphs. Unlike many works that consider continuous or periodic communication and control strategies, we are interested in developing an event-triggered algorithm to reduce the overall load of the network in terms of limited communication and control updates. Furthermore, we focus on a sampled-data implementation that allows agents in a communication network to determine whether locally sampled information should be discarded or broadcasted to neighbors. This formulation allows us to automatically rule out Zeno behavior that is often a challenge in distributed event-triggered systems. We show that all agents eventually rendezvous at the centroid of their initial formation given an appropriate selection of the local sampling period and event-triggering parameters. We demonstrate the effectiveness of the proposed communication and control law through simulations.