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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 37, 2020 No. 6
1661-1665

Event driven circle formation control for multi-agent system with communication delay

He Luoji1
Xie Guangming1,2,3
Wen Jiayan1,2
Luo Wenguang1
1. School of Electrical & Information Engineering, Guangxi University of Science & Technology, Liuzhou Guangxi 545006, China
2. State Key Laboratory of Turbulence & Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing 100871, China
3. Peking University Institute of Ocean Research, Beijing 100871, China
DOI: 10.19734/j.issn.1001-3695.2018.11.0901

Abstract

In order to solve the problem that communication and computing resources are consumed in the first order multiagent system circle formation with communication delay, this paper introduced an event-driven control mechanism, and designed the control law for arbitrary circle formation, which was coupling with state dependent and state independent event-driven conditions. Event-triggered function was based on state error, made the information transmission between two neighbor agents and the controller updates driven by properly defined events. It proved the convergence of the control law strictly and theoretically, and the numerical simulation validated the effectiveness of control algorithm. The simulation results also show that the updating frequency of the controller and the resource consumption of the agent are reduced with the desired system performance.

Foundation Support

国家自然科学基金资助项目(6196020200,91648120,61633002,61563006)
广西自然科学基金面上项目(2018GXNSFAA294085,2018GXNSFAA050029)
广西高校工业过程智能控制技术重点实验室(IPICT-2016-04)资助项目
广西高校中青年教师基础能力提升项目(KY2016YB244)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.11.0901
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 6
Section: Algorithm Research & Explore
Pages: 1661-1665
Serial Number: 1001-3695(2020)06-011-1661-05

Publish History

[2020-06-05] Printed Article

Cite This Article

何逻辑, 谢广明, 文家燕, 等. 通信时滞下事件驱动多智能体系统环形编队控制 [J]. 计算机应用研究, 2020, 37 (6): 1661-1665. (He Luoji, Xie Guangming, Wen Jiayan, et al. Event driven circle formation control for multi-agent system with communication delay [J]. Application Research of Computers, 2020, 37 (6): 1661-1665. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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