Event/Self-Triggered Consensus Control of Multiagent Systems With Undesirable Sensor Signals

• Published in: IEEE transactions on cybernetics Vol. 52; no. 6; pp. 4346 - 4355
• Main Authors: Wang, Jianan, Wang, Chunyan, Wang, Dandan, Deng, Fang
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.06.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Condition monitoring; Consensus control; Control systems; descriptor observer; Directed graphs; event-triggered; fault estimation; Fault tolerance; Jordan form; Low pass filters; Monitoring; Multi-agent systems; Multiagent systems; Observers; self-triggered communication; Stability analysis; State observers
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2020.3026215

This article focuses on event-triggered consensus control for multiagent systems subject to sensor faults or noises. First, a descriptor state observer with a low-pass filtering characteristic being developed for each agent using output information. The convergence regions of estimation errors can be reduced by a nonsingular suppression matrix. Leader-follower event-triggered consensus protocols with continuous-time communication are designed for multiagent systems based on the estimated states. By virtue of the Jordan form of the Laplacian matrix, the stability conditions are derived by using the Lyapunov analysis. Then, new self-triggered consensus protocols are designed for the multiagent systems to remove the requirement of the continuous monitoring triggering condition and continuous communication simultaneously. The triggering interval is proved greater than 0, and the Zeno behavior is excluded for all agents. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed design.