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arXiv · 2209.01888

Event-Triggered l2-Optimal Formation Control with State-Estimation for Agents Modeled as LPV Systems

Gerald Gebhardt·Hamideh Saadabadi·Herbert Werner
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Abstract

This paper proposes a distributed scheme with different estimators for the event-triggered formation control of polytopic homogeneously scheduled linear parameter-varying (LPV) multi-agent systems (MAS). Each agent consists of a time-triggered inner feedback loop and a larger event-triggered outer feedback loop to track a formation reference signal and reject input and output noise. If a local event-trigger condition is violated, the event-triggered outer feedback loop is closed through the communication network. The event-trigger condition is only based on locally available information. To design the controller, a synthesis problem is formulated as a linear matrix inequality of the size of a single agent under the assumption, that local estimators trigger intercommunication events with neighboring agents if the event-trigger condition is violated. The design procedure guarantees stability and bounded l2-performance. Furthermore, the estimators are interchangeable for a given controller. We compare in simulation zero-order hold, open-loop estimation, and closed-loop estimation strategies. Simulation trials are carried out with non-holonomic dynamic unicycles modeled as polytopic LPV systems.

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Gerald Gebhardt, Hamideh Saadabadi, Herbert Werner. 2022-09-05. Event-Triggered l2-Optimal Formation Control with State-Estimation for Agents Modeled as LPV Systems. https://arxiv.org/abs/2209.01888

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