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Robust Dynamic Event-Triggered Coordination With a Designable Minimum Inter-Event Time

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dc.contributor.advisor Nowzari, Cameron Berneburg, James
dc.creator Berneburg, James 2020-12-01 2021-01-26T21:20:44Z 2021-01-26T21:20:44Z
dc.description.abstract This paper revisits the classical multi-agent average consensus problem for which many different event-triggered control strategies have been proposed over the last decade. Many of the earliest versions of these works conclude asymptotic stability without proving that Zeno behavior, or deadlocks, do not occur along the trajectories of the system. More recent works that resolve this issue either: (i) propose the use of a dwell-time that forces inter-event times to be lower-bounded away from zero but sacrifice asymptotic convergence in exchange for practical convergence (or convergence to a neighborhood); (ii) guarantee non-Zeno behaviors and asymptotic convergence but do not provide a positive minimum inter-event time guarantee; or (iii) are not fully distributed. Additionally, the overwhelming majority of these works provide no form of robustness analysis on the event-triggering strategy. More specifically, if arbitrarily small disturbances can remove the non-Zeno property then the theoretically correct algorithm may not actually be implementable. Instead, this work for the first time presents a fully distributed, robust, dynamic event- triggered algorithm, for general directed communication networks, for which a desired pos- itive minimum inter-event time can be chosen by each agent in a distributed fashion. Sim- ulations illustrate our results. en_US
dc.language.iso en en_US
dc.subject Control Theory en_US
dc.subject Event-triggered Control en_US
dc.subject Lyapunov Theory en_US
dc.subject Distributed Control en_US
dc.title Robust Dynamic Event-Triggered Coordination With a Designable Minimum Inter-Event Time en_US
dc.type Thesis en_US Master of Science in Electrical Engineering en_US Master's en_US Electrical Engineering en_US George Mason University en_US

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