Sampled-data consensus in switching networks of integrators based on edge events

Abstract

This paper investigates the event-driven sampled-data consensus in switching networks of multiple integrators and studies both the bidirectional interaction and leader-following passive reaction topologies in a unified framework. In these topologies, each information link is modelled by an edge of the information graph and assigned a sequence of edge events, which activate the mutual data sampling and controller updates of the two linked agents. Two kinds of edge-event-detecting rules are proposed for the general asynchronous data-sampling case and the synchronous periodic event-detecting case. They are implemented in a distributed fashion, and their effectiveness in reducing communication costs and solving consensus problems under a jointly connected topology condition is shown by both theoretical analysis and simulation examples.

Keywords:

• sampled-data consensus
• switching topologies
• event-driven data sampling
• asynchronous data sampling

Notes

1. If , then u_i(t) = 0.

2. Note that this paper assumes that there exists at most one agent with ω_i equal to 0.

Additional information

Funding

This work was supported by the Natural Sciences and Engineering Research Council of Canada; the National Natural Science Foundation of China [grant number 61273030] and [grant number 61422302]; the Program for New Century Excellent Talents in University [grant number NCET-13-0178], and supported by the 111 Project (B08015).