论文标题
分析单积分系统的时间与事件触发的共识
Analysis of Time- versus Event-Triggered Consensus for a Single-Integrator Multi-Agent System
论文作者
论文摘要
众所周知,当控制循环在稀缺的沟通资源下运行时,就使用的触发计划对控制性能有很大的影响。与时间触发的控制相比,各种实用和模拟的作品已经证明了事件触发的控制的潜力,同时提供相似的性能水平,同时提供相似的性能水平。对于非合作性网络控制系统,在某些假设下,时间和事件触发的控制对此发现的分析性能比较支持了这一发现。尽管在非合作设置中进行了充分研究,但尚不清楚触发方案的性能关系是否以及如何在多代理系统设置中改变。为了缩小这一差距,在本文中,我们考虑了一个均匀的单一集成剂多主体共识问题,我们可以分析时间和事件触发的控制方案的性能。在假设相等的平均触发率的假设下,我们将二次偏差的长期平均值作为绩效指标来对比触发方案。与非合作设置相反,我们证明,事件触发的控件的性能比该设置中一定数量的代理以外的时间触发的控件更糟糕。此外,我们在两个触发方案下得出了性能度量的渐近顺序,这是代理数量的函数。
It is well known that the employed triggering scheme has great impact on the control performance when control loops operate under scarce communication resources. Various practical and simulative works have demonstrated the potential of event-triggered control to reduce communication while providing a similar performance level when compared to time-triggered control. For non-cooperative networked control systems, analytical performance comparisons of time- and event-triggered control support this finding under certain assumptions. While being well-studied in the non-cooperative setting, it remains unclear if and how the performance relationship of the triggering schemes is altered in a multi-agent system setup. To close this gap, in this paper, we consider a homogeneous single-integrator multi-agent consensus problem for which we compare the performance of time- and event-triggered control schemes analytically. Under the assumption of equal average triggering rates, we use the long-term average of the quadratic deviation from consensus as a performance measure to contrast the triggering schemes. Contrary to the non-cooperative setting, we prove that event-triggered control performs worse than time-triggered control beyond a certain number of agents in this setup. In addition, we derive the asymptotic order of the performance measure as a function of the number of agents under both triggering schemes.