Event Triggered Multi-Agent Consensus of DC Motors to Regulate Speed by LQR Scheme

Mathematical and Computational Applications

Masroor, Suhaib¹ 

关键词: event-triggered consensus;    leader-following multi-agent system;    Linear Quadratic Regulator (LQR) control;    Riccati inequality;    Lyapunov theorem;    networked multi-motor system;    speed synchronization;   

DOI  :  10.3390/mca22010014

学科分类：计算数学

来源: mdpi

【 摘 要 】

In the presented paper, the leader-following consensus algorithm of a multi-agent system (MAS) is used along with the centralized event-triggering scheme to make the speed of the network-coupled multiple-motors synchronizable. In the proposed method, the updates for the controller are event-driven based on local information. Moreover, the basic consensus protocol is also revised such that the speed information of the motors is used in order to reach identical speed. The main benefit of the planned event-triggered methodology is the energy saving by avoiding the continuous control of the system. As far as stability analysis of the system is concerned, a common Lyapunov function is incorporated to validate stability. The acquired results endorse the success of the proposed methodology.

【 授权许可】

CC BY