線形マルチエージェントシステムのイベントトリガーおよびセルフトリガーフォーメーション制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2020/03/01

タイトル(英語): Event-triggered and Self-triggered Formation Control of a Linear Multi-agent System

著者名: 豊田　凌（慶應義塾大学大学院理工学研究科総合デザイン工学専攻），小谷　健人（慶應義塾大学大学院理工学研究科総合デザイン工学専攻），滑川　徹（慶應義塾大学大学院理工学研究科総合デザイン工学専攻）

著者名(英語): Ryo Toyota (Graduate School of Science and Engineering, Keio University), Kento Kotani (Graduate School of Science and Engineering, Keio University), Toru Namerikawa (Graduate School of Science and Engineering, Keio University)

キーワード: マルチエージェントシステム，フォーメーション制御，イベントトリガー制御，セルフトリガー制御　　multi-agent system，formation control，event-triggered control，self-triggered control

要約(英語): In this paper, a distributed event-triggered formation control algorithm for a multi-agent system which consists of linear discrete-time agents is proposed. For agents to achieve a formation, it is necessary to communicate with each other to feedback their information. For communication, wireless communications are desirable for various tasks since wired networks can constrain their movement. Also, each agent have to observe their states from sensors. Those energy consumption due to unneecessary calculation and communication of agents may shorten battery life of agents. By using the event-triggered protocol, which updates the control input aperiodically only when certain triggering condition is satisfied, we aim to reduce those calculation and communication by reducing the input update frequency. Also the multi-agent system is guaranteed to achieve a formation by determining the triggering condition of the control input based on Lyapunov's stability theorem. At the end of the paper, the effectiveness of the proposed algorithm is verified by numerical simulation.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.140 No.3 （2020） 特集Ⅰ：スマートシステムと計測・制御技術―IoT時代の計測・制御技術―　特集Ⅱ：産業応用をにらんだ高周波システム・電子デバイス・回路・材料技術

本誌掲載ページ: 303-311 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/140/3/140_303/_article/-char/ja/