New state estimator for decentralized event-triggered consensus for multi-agent systems

Christophe Viel (1) , Hélène Piet-Lahanier (1) , Michel Kieffer (2) , Sylvain Bertrand (1)

1 ONERA - The French Aerospace Lab [Palaiseau]
2 L2S - Laboratoire des signaux et systèmes

This paper extends recent work of Garcia et al on event-triggered communication to reach consensus in multi-agent systems. It proposes an improved agent state estimator as well as an estimator of the state estimation uncertainty to trigger communications. Convergence to consensus is studied. Simulations show the effectiveness of the proposed estimators in presence of state perturbations.

Mots clés: event-triggered; undirected communication graph; consensus; Multi-agent system

Domaines: Automatique / Robotique

Christophe Viel, Hélène Piet-Lahanier, Michel Kieffer, Sylvain Bertrand. New state estimator for decentralized event-triggered consensus for multi-agent systems. 4th IFAC International Conference on Intelligent Control and Automation Sciences (ICONS 2016), IFA, Jun 2016, Reims, France. pp.365 - 370, ⟨10.1016/j.ifacol.2016.07.140⟩. ⟨hal-01424829⟩