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60
Selftriggered coordination of robotic networks for optimal deployment,” Automatica,
, 2010
"... AbstractThis paper studies a coverage control problem for multivehicle systems where individual agents operate with outdated information about each others' locations. Our objective is to understand to what extent this outdated information is still useful and at which point it becomes essenti ..."
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Cited by 19 (4 self)
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AbstractThis paper studies a coverage control problem for multivehicle systems where individual agents operate with outdated information about each others' locations. Our objective is to understand to what extent this outdated information is still useful and at which point it becomes essential to obtain new, uptodate information. We propose a selftriggered coordination algorithm based on spatial partitioning techniques with uncertain information and verify its correctness using tools from computational geometry, stability theory, setvalued analysis, and eventbased systems.
Eventtriggered strategies for decentralized model predictive controllers
 IFAC World Congress
"... Abstract: In this paper, novel eventtriggered strategies for the design of model predictive (MPC) controllers are presented. The MPC framework consists in finding the solution to a constraint optimalcontrol problem at every timestep. The case of triggering the optimization of the MPC only when is ..."
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Cited by 9 (4 self)
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Abstract: In this paper, novel eventtriggered strategies for the design of model predictive (MPC) controllers are presented. The MPC framework consists in finding the solution to a constraint optimalcontrol problem at every timestep. The case of triggering the optimization of the MPC only when is needed, is investigated. The centralized case is treated first and the results are then extended to a decentralized formulation. We consider a system composed by a number of interconnected subsystems, each one of them controlled by a robust MPC algorithm. Using the InputtoState (ISS) property of the decentralized MPC controller we reach to an eventtriggering rule, for each of the subsystems. 1.
Event based agreement protocols for multiagent networks
 Automatica
, 2013
"... a b s t r a c t This paper considers an average consensus problem for multiple integrators over fixed, or switching, undirected and connected network topologies. Event based control is used on each agent to drive the state to their initial average eventually. An event triggering scheme is designed ..."
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Cited by 8 (1 self)
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a b s t r a c t This paper considers an average consensus problem for multiple integrators over fixed, or switching, undirected and connected network topologies. Event based control is used on each agent to drive the state to their initial average eventually. An event triggering scheme is designed based on a quadratic Lyapunov function. The derivative of the Lyapunov function is made negative by an appropriate choice of the event condition for each agent. The event condition is sampleddata and distributed in the sense that the event detector uses only neighbor information and local computation at discrete sampling instants. The event based protocol design is illustrated with simulations.
Eventtriggered control for discretetime systems
 In Proceedings of the IEEE American Control Conference
, 2010
"... Abstract — In this paper, eventtriggered strategies for control of discretetime systems are proposed and analyzed. Similarly to the continuoustime case, the plant is assumed inputtostate stable with respect to measurement errors and the control law is updated once a triggering condition involvi ..."
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Cited by 8 (0 self)
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Abstract — In this paper, eventtriggered strategies for control of discretetime systems are proposed and analyzed. Similarly to the continuoustime case, the plant is assumed inputtostate stable with respect to measurement errors and the control law is updated once a triggering condition involving the norm of a measurement error is violated. The results are also extended to a selftriggered formulation, where the next control updates are decided at the previous ones, thus relaxing the need for continuous monitoring of the measurement error. The overall framework is then used in a novel Model Predictive Control approach. The results are illustrated through simulated examples. I.
On Integration of Eventbased Estimation and Robust MPC in a Feedback Loop
"... The main purpose of eventbased control, if compared to periodic control, is to minimize data transfer or processing power in networked control systems. Current methods have an (implicit) dependency between triggering the events and the control algorithm. To decouple these two, we introduce an event ..."
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Cited by 8 (0 self)
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The main purpose of eventbased control, if compared to periodic control, is to minimize data transfer or processing power in networked control systems. Current methods have an (implicit) dependency between triggering the events and the control algorithm. To decouple these two, we introduce an eventbased state estimator in between the sensor and the controller. The eventbased estimator is used to obtain a state estimate with a bounded covariance matrix in the estimation error at every synchronous time instant, under the assumption that the set in the measurementspace that is used for event generation is bounded. The estimation error is then translated into explicit polytopic bounds that are fed into a robust MPC algorithm. We prove that the resulting MPC closedloop system is inputtostate stable (ISS) to the estimation error. Moreover, whenever the network requirements are satisfied, the controller could explicitly request for an additional measurement in case there is a desire for a better disturbance rejection.
Distributed Algebraic Connectivity Estimation for Adaptive Eventtriggered Consensus
"... Abstract — In several multi agent control problems, the convergence properties and the convergence speed of the system depend on the algebraic connectivity of the graph. We present a novel distributed algorithm where the agents estimate this algebraic connectivity, obtaining a more accurate estimate ..."
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Cited by 7 (1 self)
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Abstract — In several multi agent control problems, the convergence properties and the convergence speed of the system depend on the algebraic connectivity of the graph. We present a novel distributed algorithm where the agents estimate this algebraic connectivity, obtaining a more accurate estimate at each iteration. This algorithm relies on the distributed computation of the powers of the adjacency matrix. We provide proofs of convergence and convergence rate of the algebraic connectivity estimation algorithm. In addition, we give upper and lower bounds at each iteration of the estimated algebraic connectivity. We apply this method to an eventtriggered consensus scenario, where the most recent estimate of the algebraic connectivity is used for adapting the behavior of the average consensus algorithm. We show that both processes can be executed in parallel, i.e., the nodes do not need to wait for obtaining a good estimate of the algebraic connectivity before starting the averaging algorithm. I.
Distributed EventBased Control for Interconnected Linear Systems
 In Proceedings of 50th IEEE Conference on Decision and Control
, 2011
"... Abstract—This paper presents a distributed eventbased control strategy for a networked dynamical system consisting of N linear timeinvariant interconnected subsystems. Each subsystem broadcasts its state over the network according to some triggering rules which depend on local information only. Th ..."
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Cited by 6 (5 self)
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Abstract—This paper presents a distributed eventbased control strategy for a networked dynamical system consisting of N linear timeinvariant interconnected subsystems. Each subsystem broadcasts its state over the network according to some triggering rules which depend on local information only. The system converges to an adjustable region around the equilibrium point under the proposed control design, and the existence of a lower bound for the broadcasting period is guaranteed. The effect of the coupling terms over the region of convergence and broadcasting period lower bound is analyzed, and a novel modelbased approach is derived to reduce the communications. Simulation results show the effectiveness of the proposed approaches and illustrate the theoretical results. I.
On a smallgain approach to distributed eventtriggered control
 Proceedings of the 18th IFAC World Congress
, 2011
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Distributed Selftriggered Control for Multiagent Systems
"... Abstract — It is desirable to limit the amount of communication and computation generated by each agent in a large multiagent system. Event and selftriggered control strategies have been recently proposed as alternatives to traditional timetriggered periodic sampling for feedback control systems. ..."
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Cited by 5 (2 self)
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Abstract — It is desirable to limit the amount of communication and computation generated by each agent in a large multiagent system. Event and selftriggered control strategies have been recently proposed as alternatives to traditional timetriggered periodic sampling for feedback control systems. In this paper we consider selftriggered control applied to a multiagent system with an agreement objective. Each agent computes its next update time instance at the previous time. This formulation extends considerably our recent work on eventbased control, because in the selftriggered setting the agents do not have to keep track of the state error that triggers the actuation between consecutive update instants. Both a centralized and a distributed selftriggered control architecture are presented and shown to achieve the agreement objective. The results are illustrated through simulated examples. I.
A Mobile Robots Experimental Environment with EventBased Wireless Communication
, 2013
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