Vazquez Trejo, Juan Antonio (University of Lorraine), Rotondo, Damiano (UiS - University of Stavanger), Adam-Medina, Manuel (National Center for Research and Technological Development), Theilliol, Didier (University of Lorraine)

Observer-Based Event-Triggered Model Reference Control for Multi-Agent Systems

Scheduled for presentation during the Regular Session "Networked Swarms II" (WeC3), Wednesday, September 2, 2020, 17:00−17:20, Edessa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

The main contribution of this paper is the design of an observer-based model reference control for multi-agent systems with event-triggered mechanism using a dynamic-threshold. Since the full state vector is not always available, an observer is considered for each agent. In order to guarantee convergence of all the agents to the reference trajectory, linear matrix inequality (LMI)-based conditions are obtained for computing the controller and observer gains. Based on the closed-loop multi-agent system, an event-triggered mechanism is designed to reduce the information exchange between agents. The effectiveness of the proposed approach is illustrated through numerical examples.