权重不平衡有向网络的事件触发控制
Event-Triggered Control for Weight-Unbalanced Directed Networks
摘要：
我们开发了一个事件触发的控制策略的权重不平衡定向同构机器人网络，在这项工作中达到动态共识。我们提出了一些保证同步的机器人网络时，所有的机器人都可以访问的参考，当有限数量的机器人访问。所提出的事件触发控制可以减少和避免信号的周期性更新。与目前的一些控制方法不同，我们证明了稳定性，利用对数范数，扩展的可能性的控制法适用于广泛的有向图，在其他作品中，事件触发控制只能实现强连接和重量平衡的有向图。我们测试我们的算法的性能进行实验，在模拟和在一个真正的机器人团队。
英文摘要：
We develop an event-triggered control strategy for a weighted-unbalanced directed homogeneous robot network to reach a dynamic consensus in this work. We present some guarantees for synchronizing a robot network when all robots have access to the reference and when a limited number of robots have access. The proposed event-triggered control can reduce and avoid the periodic updating of the signals. Unlike some current control methods, we prove stability by making use of a logarithmic norm, which extends the possibilities of the control law to be applied to a wide range of directed graphs, in contrast to other works where the event-triggered control can be only implemented over strongly connected and weight-balanced digraphs. We test the performance of our algorithm by carrying out experiments both in simulation and in a real team of robots.
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