Self-triggered rendezvous of gossiping second-order agents
Self-triggered rendezvous of gossiping second-order agents
复制标题
自触发八卦二阶特工的会合
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
J. Hendrickx
中科院分区：
文献类型：
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作者：
C. D. Persis;P. Frasca;J. Hendrickx
最近，一些作者在一篇论文中介绍了几种一阶连续时间系统的自触发协调算法。将这些算法扩展到二阶代理在许多实际应用中都是相关的，但也提出了一些挑战，这些挑战在这一贡献中得到了解决，需要与以前进行的分析背道而驰。我们设计了一种自触发的八卦协调算法，该算法产生一个时变的通信图，该图具有足够的连通性以保证有用的收敛性质，并允许我们在形成双积分器代理的情况下实现期望的协调任务，该双积分器代理(I)在适当的设计时间建立成对的通信，(Ii)在减少感知和通信工作量的同时交换相对测量。
A recent paper by some of the authors introduced several self-triggered coordination algorithms for first-order continuous-time systems. The extension of these algorithms to second-order agents is relevant in many practical applications but presents some challenges that are tackled in this contribution and that require to depart from the analysis that was carried out before. We design a self-triggered gossiping coordination algorithm that induces a time-varying communication graph, which is enough connected to guarantee useful convergence properties, and allows us to achieve the desired coordination task in a formation of double-integrator agents that (i) establish pair-wise communication at suitably designed times and (ii) exchange relative measurements while reducing the sensing and communication effort.