Search

We present a general emulation-based framework to address the distributed control of multi-agent systems over packet-based networks. We consider the setup where information is only transmitted at (non-uniform) sampling times and where packets are received with unknown delays. We design local dynamic periodic event-triggering mechanisms to generate the transmissions. The triggering mechanisms can run on non-synchronized digital platforms, i.e., we ensure that the conditions must only be verified at asynchronous sampling times, which may differ for each platform. Different stability and performance characteristics can be considered as we follow a general dissipativity-based approach. Moreover, Zeno-free properties are guaranteed by design. The results are illustrated on a consensus problem.

International audience; General nonlinear continuous-time systems are considered for which its state is estimated via a packetbased communication network. We assume that the system has multiple sensor nodes, affected by measurement noise, which can transmit at discrete (non-equidistant) points in time. Moreover, each node can transmit asynchronously. For this setup, we develop a state estimation framework, where the transmission instances of the individual sensor nodes can be generated in either time-triggered or event-triggered fashions. In the latter case, we guarantee the absence of Zeno behavior by construction. It is shown that, under the provided design conditions, an input-to-state stability property is obtained for the estimation error with respect to the measurement noise and process disturbances and that the state is thus reconstructed asymptotically in the absence of noise.

International audience; We study solution concepts and their properties for hybrid systems that can flow and jump, affected by continuous-time inputs. While the solution concepts, the existence of solutions and (forward) completeness properties are extensively discussed in the absence of (external) inputs, there are surprisingly few results when inputs are present, certainly in the case where the flow and jump sets depend on the inputs. Given the relevance of this class of hybrid systems for many applications such as hybrid or networked control for plants subject to disturbances or measurement noise, we discuss in this paper notions of solutions in the presence of inputs and show through various examples the subtleties that can occur. Moreover, we provide tools to guarantee the existence of solutions and results to establish completeness properties.