An Event-Triggered Distributed Continuous-Time Optimization Approach

被引：3
|
作者：
Hu, Min [1 ]
Lu, Qiang [1 ,2 ]
Qiu, Xue-Na [3 ]
Wu, Qiuxuan [1 ]
机构：
[1] Hangzhou Dianzi Univ, Sch Automat, Hangzhou 310018, Zhejiang, Peoples R China
[2] Hangzhou Dianzi Univ, Minist Educ Measuring Instruments & Integrated Te, Engn Res Ctr, Hangzhou 310018, Zhejiang, Peoples R China
[3] Ningbo Univ Technol, Coll Elect & Informat Engn, Ningbo 315016, Zhejiang, Peoples R China
来源：
IEEE ACCESS | 2019年 / 7卷
基金：
中国国家自然科学基金;
关键词：
Event-based communication; distributed optimization; multi-robot systems; MULTIAGENT SYSTEMS; CONVEX-OPTIMIZATION; COOPERATIVE CONTROL; SOURCE SEEKING; MOTION CONTROL; NETWORKS;
D O I：
10.1109/ACCESS.2019.2939643
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we design an event-triggered distributed continuous-time optimization approach. The proposed approach can be implemented independently by each robot and has two main characteristics. One is that each robot can deal with its local cost function such that the minimum of the sum of all the local cost functions can be found. The other is that, due to using the event-triggered communication mechanism, resource consumption of chips are saved by reducing the communication frequencies and the updating times of control inputs before the consensus is arrived. Moreover, based on Lyapunov theory, the stability conditions of multi-robot systems with the proposed approach are given. Finally, the effectiveness of the proposed approach is illustrated through experimental results.
引用
收藏
页码：133888 / 133899
页数：12
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