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Self-Triggered Pinning Consensus Control for Multi-Agent Systems
Shun ANDOH Koichi KOBAYASHI Yuh YAMASHITA
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences
Publication Date: 2020/02/01
Online ISSN: 1745-1337
Type of Manuscript: Special Section PAPER (Special Section on Mathematical Systems Science and its Applications)
consensus, multi-agent systems, pinning control, self-triggered control,
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Pinning control of multi-agent systems is a method that the external control input is added to some agents (pinning nodes), e.g., leaders. By the external control input, consensus to a certain target value and faster consensus are achieved. In this paper, we propose a new method of self-triggered predictive pinning control for the consensus problem. Self-triggered control is a method that both the control input and the next update time are calculated. Using self-triggered control, it is expected that the communication cost can be reduced. First, a new finite-time optimal control problem used in self-triggered control is formulated, and its solution method is derived. Next, as an on-line algorithm, two methods, i.e., the multi-hop communication-based method and the observer-based method are proposed. Finally, numerical examples are presented.