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Computer Science > Robotics

arXiv:2108.09609 (cs)
[Submitted on 22 Aug 2021]

Title:Event-Triggered Control for Weight-Unbalanced Directed Networks

Authors:Juan D. Pabon, Gustavo A. Cardona, Nestor I. Ospina, Juan Calderon, Eduardo Mojica-Nava
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Abstract: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.
Comments: 6 Pages, 4 Figures, IROS 2021
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2108.09609 [cs.RO]
  (or arXiv:2108.09609v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.09609

Submission history

From: Juan D. Pabon [view email]
[v1] Sun, 22 Aug 2021 00:53:08 UTC (451 KB)
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