Self-triggered output synchronization of heterogeneous linear agents through a cloud repository

Figures & data

Figure 1. Illustration of the relation among the access times of the agents i and j.

Table 1. Information stored in the cloud at t.

Agents	$\mathbf{1}$	$\mathbf{2}$	···	$\mathit{N}$
The last access time	$t_1^{l_1}$	$t_2^{l_2}$	···	$t_N^{l_N}$
The last access state of the VE	${\zeta }_1\left(t_1^{l_1}\right)$	${\zeta }_2\left(t_2^{l_2}\right)$	···	${\zeta }_N\left(t_N^{l_N}\right)$
The input of the VE	$v_1\left(t_1^{l_1}\right)$	$v_2\left(t_2^{l_2}\right)$	···	$v_N\left(t_N^{l_N}\right)$
The next access time	$t_1^{l_1+1}$	$t_2^{l_2+1}$	···	$t_N^{l_N+1}$

Figure 2. Communication model.

Figure 3. The controller and agent dynamics of the ith agent.

Figure 4. Accessibility graph.

Table 2. Parameters.

i	$(a_i,b_i)$	$(K_i,L_i)$
1	$(-4.5,0.3)$	$\left(\right[25.5,-7.3],\left[\begin{array}{c}-0.94\\ -5.3\end{array}\right])$
2	$(7.9,0.1)$	$\left(\right[-157.9,-65.1,-10.0],\left[\begin{array}{c}-7.0\\ -45.1\\ -159.9\end{array}\right])$
3	$(-1.9,-0.6)$	$\left(\right[28.1,-6.4],\left[\begin{array}{c}-2.76\\ -4.4\end{array}\right])$
4	$(6.3,0.9)$	$\left(\right[-156.3,-65.9,-10.0],\left[\begin{array}{c}-7.0\\ -45.9\\ -174.3\end{array}\right])$

Figure 5. Outputs y.

Figure 6. Output synchronization error $|y_i-R\alpha |$.

Figure 7. States of the virtual exosystems at access times.

Table 3. Cloud accesses of virtual exosystems.

	Access	Minimum interval	Average interval
1	64	0.0182	0.1259
2	65	0.0161	0.1247
3	63	0.0303	0.1268
4	63	0.0330	0.1280