Time- versus event-triggered consensus of a single-integrator multi-agent system
arxiv(2023)
摘要
Event-triggered control has shown the potential for providing improved
control performance at the same average sampling rate when compared to
time-triggered control. While this observation motivates numerous
event-triggered control schemes, proving it from a theoretical perspective has
only been achieved for a limited number of settings. Inspired by existing
performance analyses for the single-loop case, we provide a first fundamental
performance comparison of time- and event-triggered control in a multi-agent
consensus setting. For this purpose, we consider undirected connected network
topologies without communication delays, a level-triggering rule for
event-triggered control, and the long-term average of the quadratic deviation
from consensus as a performance measure. The main finding of our analysis is
that time-triggered control provably outperforms event-triggered control beyond
a certain number of agents in our particular setting. We thereby provide an
illustrative distributed problem setup in which event-triggered control results
in a performance disadvantage when compared to time-triggered control in the
case of large networks. Moreover, we derive the asymptotic order of the
performance measure under both triggering schemes which gives more insights
into the cost relationship for large numbers of agents. Thus, by presenting an
analysis for a particular setup, this work points out that transferring an
event-triggering scheme from the single-loop to the multi-agent setting can
lead to a loss of the often presumed superiority of event-triggered control
over time-triggered control. In particular, the design of performant
decentralized event-triggering schemes can therefore pose additional challenges
when compared to the analogue single-loop case.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要