Skip to main content
SpringerLink
Log in

Leader-Following Consensus of Multi-Agent Systems via Adaptive Event-Based Control

  • Published:
Journal of Systems Science and Complexity Aims and scope Submit manuscript

Abstract

In this paper, the adaptive event-based control approach is applied to study leader-following consensus of multi-agent systems with linear dynamic models. Adaptive event-based controller and triggering function for each agent are designed, where the adaptive function is only dependent on its own event time instants. A sufficient condition on consensus is proposed, which shows that the adaptive event-based method presented in this paper not only can reduce the communication among neighboring agents, but also can determine the event time instants for each agent without using the global information. Furthermore, the Zeno-behavior for the concerned closed-loop system is excluded. Finally, an example is presented to illustrate the effectiveness of the obtained theoretical results.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Ren W and Beard R W, Distributed Comsensus in Multi-Vehicle Cooporative Control: Theory and Applications, Springer-Verlag, London, 2008.

    Google Scholar 

  2. Zhang X, Liu L, and Feng G, Leader-follower consensus of time-varying nonlinear multi-agent systems, Automatica, 2015, 52: 8–14.

    Article  MathSciNet  MATH  Google Scholar 

  3. Su S and Lin Z, Distributed consensus control of multi-agent systems with higher order agent dynamics and dynamically changing directed interaction topologies, IEEE Transactions on Automatic Control, 2016, 61(2): 515–519.

    MathSciNet  MATH  Google Scholar 

  4. Zheng Y, Ma J, and Wang L, Consensus of hybrid multi-agent systems, IEEE Transactions on Neural Networks and Learning Systems, 2018, 29(4): 1359–1365.

    Article  Google Scholar 

  5. Zhang H T, Chen M Z Q, and Zhou T, Improve consensus via decentralized predictive mechanisms, EPL (Europhysics Letters), 2009, 86(4): 40011.

    Article  Google Scholar 

  6. Zhang H T and Chen Z, Consensus acceleration in a class of predictive networks, IEEE Transactions on Neural Networks and Learning Systems, 2014, 25(10): 1921–1927.

    Article  Google Scholar 

  7. Fan M C, Chen Z, and Zhang H T, Semi-global consensus of nonlinear second-order multi-agent systems with measurement output feedback, IEEE Transactions on Automatic Control, 2014, 59(8): 2222–2227.

    Article  MathSciNet  MATH  Google Scholar 

  8. Wen G, Zhao Y, Duan Z, et al., Containment of higher-order multi-leader multi-agent systems: A dynamic output approach, IEEE Transactions on Automatic Control, 2016, 61(4): 1135–1140.

    Article  MathSciNet  MATH  Google Scholar 

  9. Wen G, Yu W, Li Z, et al., Neuro-adaptive consensus tracking of multiagent systems with a high-dimensional leader, IEEE Transactions on Cybernetics, 2017, 47(7): 1730–1742.

    Article  Google Scholar 

  10. Dimarogonas D V and Johansson K H, Event-triggered control for multi-agent systems, 48th IEEE Conference on Decision and Control, held jointly with the 28th Chinese Control Conference (CDC/CCC), Shanghai, China, 2009, 7131–7136.

    Google Scholar 

  11. Dimarogonas D V, Frazzoli E, and Johansson K H, Distributed event-triggered control for multiagent systems, IEEE Transactions on Automatic Control, 2012, 57(5): 1291–1297.

    Article  MathSciNet  MATH  Google Scholar 

  12. Fan Y, Feng G, Wang Y, et al., Distributed event-triggered control of multi-agent systems with combinational measurements, Automatica, 2013, 49(2): 671–675.

    Article  MathSciNet  MATH  Google Scholar 

  13. Yi X, Lu W, and Chen T, Pull-based distributed event-triggered consensus for multi-agent systems with directed topologies, IEEE Transactions on Neural Networks and Learning Systems, 2017, 28(1): 71–79.

    Article  MathSciNet  Google Scholar 

  14. Seyboth G S, Dimarogonas D V, and Johansson K H, Event-based broadcasting for multi-agent average consensus, Automatica, 2013, 49(1): 245–252.

    Article  MathSciNet  MATH  Google Scholar 

  15. Li H, Liao X, Huang T, et al., Event-triggering sampling based leader-following consensus in second-order multi-agent systems, IEEE Transactions on Automaitc Control, 2015, 60(7): 1998–2003.

    Article  MathSciNet  MATH  Google Scholar 

  16. Xie D, Xu S, Li Z, et al., Event-triggered consensus control for second-order multi-agent systems, IET Control Theory & Applications, 2015, 9(5): 667–680.

    Article  MathSciNet  Google Scholar 

  17. Zhu W, Jiang Z P, and Feng G, Event-based consensus of multi-agent systems with general linear models, Automatica, 2014, 50(2): 552–558.

    Article  MathSciNet  MATH  Google Scholar 

  18. Yang D, Ren W, Liu X, et al., Decentralized event-triggered consensus for linear multi-agent systems under general directed graphs, Automatica, 2016, 69: 242–249.

    Article  MathSciNet  MATH  Google Scholar 

  19. Garcia E, Cao Y, and Casbeer D W, Periodic event-triggered synchronization of linear multi-agent systems with communication delays, IEEE Transactions on Automatic Control, 2017, 62(1): 366–371.

    Article  MathSciNet  MATH  Google Scholar 

  20. Zhou B, Liao X, Huang T, et al., Leader-following exponential consensus of general linear multiagent systems via event-triggered control with combinational measurements, Applied Mathematics Letters, 2015, 40: 35–39.

    Article  MathSciNet  MATH  Google Scholar 

  21. Zhu W and Jiang Z P, Event-based leader-following consensus of multi-agent systems with input time delay, IEEE Transactions on Automatic Control, 2015, 60(5): 1362–1367.

    Article  MathSciNet  MATH  Google Scholar 

  22. Cheng Y and Ugrinovskii V, Event-triggered leader-following tracking control for multivariable multi-agent systems, Automatica, 2016, 70: 204–210.

    Article  MathSciNet  MATH  Google Scholar 

  23. Xu W, Ho D W C, Li L, et al., Event-triggered schemes on leader-following consensus of general linear multiagent systems under different topologies, IEEE Transactions on Cybernetics, 2017, 47(1): 212–223.

    Article  Google Scholar 

  24. Li Z, Ren W, Liu X, et al., Consensus of multi-agent systems with general linear and Lipschitz nonlinear dynamics using distributed adaptive protocols, IEEE Transactions on Automaitc Control, 2013, 58(7): 1786–1791.

    Article  MathSciNet  MATH  Google Scholar 

  25. Lv Y, Li Z, Duan Z, et al., Novel distributed robust adaptive consensus protocols for linear multiagent systems with directed graphs and external disturbances, International Journal of Control, 2017, 90(2): 137–147.

    Article  MathSciNet  MATH  Google Scholar 

  26. Yin X, Yue D, and Hu S, Adaptive event-triggered consensus control for multi-agent systems subject to input saturation, 34th Chinese Control Conference (CCC), Hangzhou, China, 2015, 7245–7250.

    Google Scholar 

  27. Yue D and Yin X, Adaptive event-triggered consensus for multi-agent systems with stochastic switching topologies and delays, IEEE International Symposium on Industrial Electronics (ISIE), Taipei, Taiwan, 2013, 1–6.

    Google Scholar 

  28. Xie D, Xu S, Zhang B, et al., Consensus for multi-agent systems with distributed adaptive control and an event-triggered communication strategy, IET Control Theory & Applications, 2016, 10(13): 1547–1555.

    Article  MathSciNet  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Key Lab of Intelligent Analysis and Decision on Complex Systems, Chongqing University of Posts and Telecommunications, Chongqing, 400065, China

    Wei Zhu, Dandan Wang & Qianghui Zhou

Authors
  1. Wei Zhu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Dandan Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Qianghui Zhou
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Wei Zhu.

Additional information

This paper was supported partly by the National Natural Science Foundation of China under Grant Nos. 61673080 and 61403314, partly by Training Programme Foundation for the Talents of Higher Education by Chongqing Education Commission, partly by Innovation Team Project of Chongqing Education Committee under Grant No. CXTDX201601019.

This paper was recommended for publication by Editor SUN Jian.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zhu, W., Wang, D. & Zhou, Q. Leader-Following Consensus of Multi-Agent Systems via Adaptive Event-Based Control. J Syst Sci Complex 32, 846–856 (2019). https://doi.org/10.1007/s11424-018-7177-x

Download citation

  • Received:

  • Revised:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11424-018-7177-x

Keywords

Search

Navigation