Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol

Neslihan Karaş; Janset Dasdemir

Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol

Öz

Bu çalışmada, merkezi yapıdaki çok etmenli sistemlerin işbirlikçi kontrol problemine yer verilmiştir. Buna göre, tek integratör ile ifade edilebilen çok etmenli sistemler için olay tetiklemeli işbirlikçi kontrol algoritması ele alınmıştır. Lyapunov fonksiyonu yardımıyla, durum fonksiyonunun normuna göre ölçüm hatasının oranına bağlı olan bir olay tetiklemeli kontrol kuralından faydalanılmıştır. Kontrol sinyalleri, yalnızca tetikleme koşulu gerçekleştiğinde uygulanmıştır. Böylelikle, ağ üzerindeki iletim yükü ve dolayısıyla iletişim maliyeti azaltılmıştır. Ayrıca, Zeno-davranış ele alınmış ve buna göre, olaylar arası sürelerde kesin pozitif bir alt sınırın varlığı incelenmiştir. Haberleşme gecikmesinin olduğu durum için farklı bir olay tetiklemeli mekanizma önerilmiştir. Son olarak, önerilen olay tetiklemeli işbirlikçi kontrol algoritmalarının etkinliği benzetim çalışmaları ile desteklenmiş, çok etmenli sistemin uzlaşma noktasına ulaştığı ve Zeno davranışın oluşmadığı gösterilmiştir.

Anahtar Kelimeler

Kaynakça

- [1] Lewis FL, Zhang H, Hengster-Movric K, Das A. Cooperative Control of Multi-Agent Systems: Optimal and Adaptive Design Approaches. 1std ed. London: Springer Hall, 2014.
[2] Cao Y, Yu W, Ren W, Chen G. An overview of recent progress in the study of distributed multi-agent coordination. IEEE Trans. Ind. Informat. 2013; 9(1): 427–438.
[3] Ge X, Han QL, Zhang XM. Achieving Cluster Formation of Multi-Agent Systems Under Aperiodic Sampling and Communication Delays. IEEE Transactions on Industrial Electronics 2018; 65(4): 3417-3426.
[4] Schwung M, Lunze J. Cooperative Control of UAVs Over an Unreliable Communication Network. IEEE Aerospace and Electronic Systems Magazine 2022; 37(8): 20-34.
[5] Ren W. Formation keeping and attitude alignment for multiple space-craft through local interactions. J. Guid. Control Dyn. 2007; 30(2): 633–638.
[6] Ding L, Han QL, Ge X, Zhang XM. An Overview of Recent Advances in Event-Triggered Consensus of Multiagent Systems. IEEE Transactions on Cybernetics 2018;48(4): 1110-1123.
[7] Al-Fuqaha A, Guizani M, Mohammadi M, Aledhari M, Ayyash M. Internet of things: A survey on enabling technologies, protocols, and applications. IEEE Commun. Surv. Tutor 2015; 17(4): 2347–2376.
[8] Gupta RA, Chow MY. Networked control system: Overview and research trends. IEEE Transactions on Industrial Electronics 2010; 57(7): 2527–2535.

[9] Wu Y, Wang L. Sampled-data consensus for multi-agent systems with quantised communication. Int. J. Control 2015; 88(2): 413–428.
[10] Li W, Liu Y, Sun H. A survey of event-based consensus for multi-agent systems. 2017 Chinese Automation Congress (CAC); 20-22 October 2017; Jinan, China. 6606-6611.
[11] Bai Y., Jing Y. Event-triggered network congestion control of TCP/AWM systems. Neural Comput & Applic 2021; 33: 15877–15886.
[12] Zhang XM, Han QL, Yu X. Survey on recent advances in networked control systems. IEEE Trans. Ind. Informat. 2016; 12(5): 1740–1752.
[13] Tabuada P. Event-Triggered Real-Time Scheduling of Stabilizing Control Tasks. IEEE Transactions on Automatic Control 2007; 52(9): 1680-1685.
[14] Heemels WPMH, Johansson KH, Tabuada P. An introduction to event-triggered and self-triggered control. 2012 IEEE 51st IEEE Conference on Decision and Control (CDC); 10-13 December 2012; Maui, HI, USA. 3270–3285.
[15] Åström KJ, Bernhardsson B. Comparison of periodic and event based sampling for first-order stochastic systems. IFAC Proceedings Volumes 1999; 32(2): 5006-5011.
[16] Zhang XM, Han QL, Ge X, Ding D, Ding L, Yue D, Peng C. Networked control systems: a survey of trends and techniques. IEEE/CAA Journal of Automatica Sinica 2020; 7(1): 1-17.
[17] Nowzari C, Garcia E, Cortés J.Event-triggered communication and control of networked systems for multi-agent consensus Automatica 2019; 105: 1-27.
[18] Ge X, Han QL, Zhang XM, Ding D. Dynamic Event-triggered Control and Estimation: A Survey. Int. J. Autom. Comput. 2021; 18: 857–886.
[19] Brunner FD, Heemels WPMH, Allgöwer F, Event-triggered and self-triggered control for linear systems based on reachable sets. Automatica 2019; 101: 15-26.
[20] Dimarogonas DV, Frazzoli E, Johansson KH. Distributed Event-Triggered Control for Multi-Agent Systems. IEEE Tran. on Automatic Control 2012, 57(5): 1291-1297.
[21] Sbarbaro D, Gomes da Silva Jr. JM, Moreira LG. Event-Triggered Tracking Control: a Discrete-Time Approach. IFAC-PapersOnLine 2020; 53(2): 4565-4570.
[22] Zhang Z, Lu Z, Sun Y, Two Event-Triggered Control Mechanisms for Multi-Agent Systems and Their Comparisons. 2020 39th Chinese Control Conference (CCC); 27-29 July 2020; Shenyang, China. 4989-4994.
[23] Kumar N, Porwal A,Singh AR, Naskar R, Purwar S. Event Triggered Control of Robot Manipulator. 2019 6th International Conference on Signal Processing and Integrated Networks (SPIN); 07-08 March 2019; Noida, India. 362-366.
[24] Jang D, Son CY, Yoo J, Kim HJ, Johansson KH. Efficient networked UAV control using event-triggered predictive control. IFAC-PapersOnLine 2019; 52(15): 412-417.
[25] Morabito B, Kögel M, Blasi S, Klemme V, Hansen C, Höhn O, Findeisen R. Multi-stage Event-triggered Model Predictive Control for Automated Trajectory Drilling. IFAC-PapersOnLine 2020; 53(2):9478-948.
[26] Jang D, Son C, Yoo J, Johansson K. Efficient networked UAV control using event-triggered predictive control. IFAC-PapersOnLine 2019; 52: 412-417.
[27] Cai J, Yu R, Yan Q, Congli M, Wang B, Shen L. Event-Triggered Adaptive Control for Tank Gun Control Systems. IEEE Access 2019; (7): 17517-17523.
[28] Li X, Sun Z, Tang Y, Karimi H. Adaptive Event-Triggered Consensus of Multi-Agent Systems on Directed Graphs. IEEE Transactions on Automatic Control 2021; 66(44): 1670-1685.
[29] Zhan J, Hu Y, Li X. Adaptive event-triggered distributed model predictive control for multi-agent systems. Systems & Control Letters 2019; 134 (1): 104531.
[30] Liang J, Liu K, Ji Z, Wang X. Event-Triggered Consensus Control for Linear Multi-Agent Systems. IEEE Access 2019; 7: 144572-144579.
[31] Zhang L, Swain A, Zhang D, Wen S. A discrete event-triggered scheme for networked control systems. IEEE 30th International Symposium on Industrial Electronics (ISIE) 2021: 1-6.
[32] Liu KZ, Teel AR, Sun XM, Wang XF, Model-based dynamic event-triggered control for systems with uncertainty: A hybrid system approach. IEEE Trans. Autom. Control 2021; 66(1): 444–451.
[33] Su Y, Wang W, Li T. Reliable Event-Triggered Control for Switched Linear Systems. 2020 Chinese Control And Decision Conference (CCDC); 22-24 August 2020; Hefei, China. 2622-2627.
[34] Hu H, Huang S, Zhang Z. Event-triggered Control for Switched Affine Linear Systems. Int. J. Control Autom. Syst. 2020; 18: 2867–2878.
[35] Jin X, Shi Y, Tang Y, Wu X. Event-triggered attitude consensus with absolute and relative attitude measurements. Automatica 2020; 122: 109245.
[36] Wu B, Shen Q, Cao X. Event-triggered attitude control of spacecraft. Advances in Space Research 2018; 61(3): 927-934.
[37] Peng C, Li F. A survey on recent advances in event-triggered communication and control. Information Sciences 2018; 457–458: 113-125.
[38] Wang Q, Hu J,Zhao Y, Ghosh BK. Event-triggered Consensus Control of Multi-agent Systems with Nonuniform Communication Delays via Reduced-Order Observers. IFAC-PapersOnLine 2020; 53(2): 3230-3235.
[39] Dimarogonas DV, Johansson KH. Event-triggered control for multi-agent systems. Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference; 15-18 December 2009; Shanghai, China. 7131-7136.
[40] Zhu W, Tian Z, Event-based consensus of first-order discrete time multi-agent systems. 2016 12th World Congress on Intelligent Control and Automation (WCICA); 12-15 June 2016; Guilin, China.1692-1696.
[41] Shi J, Hu W, Consensus of Second-Order Multi-Agent Systems by Event-Triggered Control. 2018 13th World Congress on Intelligent Control and Automation (WCICA); 04-08 July 2018; Changsha, China. 269-273.
[42] Zhu W, Pu H, Wang D, Li H, Event-based consensus of second-order multi-agent systems with discrete time. Autonamica 2017; 79: 78–83.
[43] Hu W, Liu L, Feng G, Consensus of Linear Multi-Agent Systems by Distributed Event-Triggered Strategy. IEEE Transactions on Cybernetics 2016; 46(1): 148-157.
[44] Li, X., Liu, F., Buss, M., and Hirche, S. Fully Distributed Consensus Control for Linear Multiagent Systems: A Reduced-Order Adaptive Feedback Approach. IEEE Transactions on Control of Network Systems 2019. 7(2): 967-976.
[45] Dong Y, X. Liu, T. Li and Q. Shan. Consensus of Hybrid Multi-Agent System Based on Broadcast Event-Triggered Method. 2022 4th International Conference on Data-driven Optimization of Complex Systems (DOCS); 28-30 October 2022; Chengdu, China. 1-6.
[46] Wu Y, Mu N. Event-Triggered Consensus of General Linear Multi-agent System with Time Delay. Advances in Neural Networks 2018; 10878: 432-439.
[47] Chen S, Fan Y, Song C, Li H. Event-Triggered Control for Networked Systems with Time-Delay and Quantization. 2020 12th International Conference on Advanced Computational Intelligence (ICACI); 14-16 August 2020; Dali, China. 207-212.
[48] Huang Y, Deng F,Wan F. Event-triggered control for stochastic systems with multiple delays. Int J Robust Nonlinear Control. 2023; 33(1): 641-658.
[49] Dohmann PBG, Hirche S. Event-Triggered Consensus for Euler-Lagrange Systems with Communication Delay. IFAC-PapersOnLine 2020; 53(2): 2777-2782.
[50] Girard A. Dynamic triggering mechanisms for event-triggered control. IEEE Transactions on Automatic Control 2015; 60(7): 1992–1997.
[51] Gao L, Liao X, Li H, Chen G. Event-triggered control for multi-agent systems with general directed topology and time delays. Asian J. Control 2016; 18(3): 945–953.
[52] Li L, Ho DWC, Lu J. Event-based network consensus with communication delays. Nonlinear Dyn. 2017; 87(3): 1847–1858.
[53] Mu N, Liao X, Huang T. Event-based consensus control for a linear directed multiagent system with time delay. IEEE Trans. Circuits Syst. II 2015; 62(3): 281–285.
[54] Borgers DP, Heemels WPMH. Event-separation properties of event-triggered control systems. IEEE Trans. Autom. Control 2014; 59(10): 2644–2656.
[55] Heemels WPMH, Donkers MCF, Teel AR. Periodic Event-Triggered Control for Linear Systems. IEEE Transactions on Automatic Control 2013; 58(4): 847-861.
[56] Behera AK, Bandyopadhyay B, Yu X. Periodic event-triggered sliding mode control. Automatica 2018; 96: 61-72.
[57] Luo S, Deng F. On Event-Triggered Control of Nonlinear Stochastic Systems. IEEE Transactions on Automatic Control 2020; 65(1): 369-375.
[58] Chen X, Sun G, Tian Y, Periodic event-triggered consensus with single-integrator Dynamics. 2017 Chinese Automation Congress (CAC); 20-22 October 2017; Jinan, China. 6651-6656
[59] Zheng S, Shi P, Agarwal R, Lim C. Periodic event-triggered output regulation for linear multi-agent systems. Automatica 2020; 122: 109223.
[60] Garcia E, Cao Y, Casbeer DW, Periodic Event-Triggered Synchronization of Linear Multi-Agent Systems with Communication Delays. IEEE Transactions on Automatic Control 2017; 62(1): 366-371.
[61] Linsenmayer S, Dimarogonas DV, Allgöwer F.Periodic event-triggered control for networked control systems based on non-monotonic Lyapunov functions. Automatica 2019; 106: 35-46.
[62] Linsenmayer S., Dimarogonas DV, Allgöwer F. A non-monotonic approach to periodic event-triggered control with packet loss. 2016 IEEE 55th Conference on Decision and Control (CDC); 12-14 December 2016; Las Vegas, NV, USA. 507-512.
[63] Godsil C, Royle G. Algebraic Graph Theory. New York: Springer, 2001.
[64] Mesbahi M, Egerstedt M. Graph Theoretic Methods in Multiagent Networks. New Jersey: Princeton Series in Applied Mathematics, 2010.
[65] Ren W, Beard RW. Distributed Consensus in Multi-vehicle Cooperative Control. London: Springer, 2008.
[66] Wang A. Event-based consensus control for single-integrator networks with communication time delays. Neurocomputing 2016; 173(3): 1715-1719.
[67] Meng XY, Chen TW. Event-based agreement protocols for multi-agent networks. Automatica 2013; 49 (7):2125–2132.
[68] Olfati-Saber R, Murray RM. Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control 2004; 49(9): 1520-1533.

Ayrıntılar

Birincil Dil

Türkçe

Konular

-

Bölüm

Araştırma Makalesi

Yazarlar

Neslihan Karaş ^*
0000-0001-6359-0624
Türkiye

Janset Dasdemir
0000-0003-1886-5240
Türkiye

Yayımlanma Tarihi

29 Mart 2023

Gönderilme Tarihi

4 Kasım 2022

Kabul Tarihi

28 Mart 2023

Yayımlandığı Sayı

Yıl 2023 Cilt: 35 Sayı: 1

IZ

https://izlik.org/JA56JC44DC

Kaynak Göster

RIS / Bibtex

APA

Karaş, N., & Dasdemir, J. (2023). Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol. Fırat Üniversitesi Fen Bilimleri Dergisi, 35(1), 13-27. https://izlik.org/JA56JC44DC

AMA

1.Karaş N, Dasdemir J. Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol. Fırat Üniversitesi Fen Bilimleri Dergisi. 2023;35(1):13-27. https://izlik.org/JA56JC44DC

Chicago

Karaş, Neslihan, ve Janset Dasdemir. 2023. “Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol”. Fırat Üniversitesi Fen Bilimleri Dergisi 35 (1): 13-27. https://izlik.org/JA56JC44DC.

EndNote

Karaş N, Dasdemir J (01 Mart 2023) Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol. Fırat Üniversitesi Fen Bilimleri Dergisi 35 1 13–27.

IEEE

[1]N. Karaş ve J. Dasdemir, “Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol”, Fırat Üniversitesi Fen Bilimleri Dergisi, c. 35, sy 1, ss. 13–27, Mar. 2023, [çevrimiçi]. Erişim adresi: https://izlik.org/JA56JC44DC

ISNAD

Karaş, Neslihan - Dasdemir, Janset. “Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol”. Fırat Üniversitesi Fen Bilimleri Dergisi 35/1 (01 Mart 2023): 13-27. https://izlik.org/JA56JC44DC.

JAMA

1.Karaş N, Dasdemir J. Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol. Fırat Üniversitesi Fen Bilimleri Dergisi. 2023;35:13–27.

MLA

Karaş, Neslihan, ve Janset Dasdemir. “Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol”. Fırat Üniversitesi Fen Bilimleri Dergisi, c. 35, sy 1, Mart 2023, ss. 13-27, https://izlik.org/JA56JC44DC.

Vancouver

1.Neslihan Karaş, Janset Dasdemir. Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol. Fırat Üniversitesi Fen Bilimleri Dergisi [Internet]. 01 Mart 2023;35(1):13-27. Erişim adresi: https://izlik.org/JA56JC44DC