TY - GEN
T1 - Event-triggered formation control of leader-follower multi-agent system for reducing the number of information transmission
AU - Nambo, Koya
AU - Katsura, Seiichiro
N1 - Funding Information:
This research was partially supported by the Ministry of Internal Affairs and Communications, Strategic Information and Communications R&D Promotion Programme (SCOPE), 151203009, 2017.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/15
Y1 - 2017/12/15
N2 - This paper proposes a event-triggered formation control method for a leader-follower multi-agent system. The purpose of the multi-agent system is to add more function to the system by cooperative control of multi-robots. Research of multi-agent system is useful for society. Generally, in conventional research, each agent always need to communicate with neighbor agents. So, communication failure like as cross-talk is likely to occur. Furthermore, energy resource of robot is limited. So, it is necessary to save the energy. To solve this problem event-triggered control is researched. In these research, the control input is generated only transmitted information in triggered-time. On the other hand, in the proposed method, each agent estimate the trajectory of neighbor agents. When error between estimated and true trajectory become over the threshold, information is transmitted. By using the proposed method, it is expected to reduce the number of information transmission.
AB - This paper proposes a event-triggered formation control method for a leader-follower multi-agent system. The purpose of the multi-agent system is to add more function to the system by cooperative control of multi-robots. Research of multi-agent system is useful for society. Generally, in conventional research, each agent always need to communicate with neighbor agents. So, communication failure like as cross-talk is likely to occur. Furthermore, energy resource of robot is limited. So, it is necessary to save the energy. To solve this problem event-triggered control is researched. In these research, the control input is generated only transmitted information in triggered-time. On the other hand, in the proposed method, each agent estimate the trajectory of neighbor agents. When error between estimated and true trajectory become over the threshold, information is transmitted. By using the proposed method, it is expected to reduce the number of information transmission.
UR - http://www.scopus.com/inward/record.url?scp=85046699136&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2017.8217273
DO - 10.1109/IECON.2017.8217273
M3 - Conference contribution
AN - SCOPUS:85046699136
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 7269
EP - 7274
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Y2 - 29 October 2017 through 1 November 2017
ER -