Research Information System
Fırat Üniversitesi Fen Bilimleri Dergisi, vol.35, no.1, pp.13-27, 2023 (Peer-Reviewed Journal)
This paper investigates the cooperative control problem of centralized multi-agent systems (MASs). An eventtriggered cooperative control algorithm for multi-agent systems with single integrator dynamics is discussed. With the help of a Lyapunov function, an event-triggered control rule is used, which depends on the ratio of the measurement error according to the norm of the state function. Control signals are applied only when the event-triggering condition is met. Thus, the transmission load on the network and therefore the communication cost is reduced. Zeno-behavior has also been investigated. Accordingly, the existence of a strictly positive lower bound on the inter-event times is shown. Another event-triggering mechanism is proposed for the case of communication delay. Finally, simulation results are presented to demonstrate the effectiveness of the event-triggered cooperative control algorithms. It has been provided that MASs reach an agreement point and Zeno-behavior does not occur.