Title:

Edge-event-based multi-agent consensus with Zeno-free triggers under synchronized/unsynchronized clocks

Abstract:

This presentation addresses novel edge-event-based triggering algorithms to achieve multi-agent consensus with Zeno-free triggers. The control input and event detector for each agent are designed based only on relative state measurements in each agent's own local coordinate system. The existence of calculable, strictly positive minimal inter-event time guarantees the elimination of Zeno behaviour. Two cases, namely the synchronized clock case and the unsynchronized clock case, are studied. In the synchronized clock case, all agents are activated simultaneously to measure the relative state information over edge links under a global clock. Edge events are defined and their occurrences trigger the update of control inputs for the two agents sharing the link. In the unsynchronized clock case, each agent executes control algorithms under its own clock which is not synchronized with other agents' clocks. An edge event only triggers control input updates for an individual agent. The consensus is reached in a totally asynchronous manner.

Biography:

Qingchen Liu is a fourth-year PhD student in the Networked Systems group at the Research School of Engineering, The Australian National University. He received both B.S. and M.S. degrees from the Harbin Engineering University, Harbin, China. His current research interests include distributed event-triggered cooperative control of autonomous agents and coverage control of mobile sensor networks.