论文标题
单个综合器多代理系统的时间与事件触发的共识共享网络效应
Shared Network Effects in Time- versus Event-Triggered Consensus of a Single-Integrator Multi-Agent System
论文作者
论文摘要
事件触发的控制有可能提供与时间触发（周期性）控制相似的性能水平，而触发事件的频率较低。因此，似乎直观的是，它也是分布式系统节省用于代理间通信的稀缺共享网络资源的可行方法。尽管这种动机通常也用于多代理系统，但当前缺少网络影响对事件和时间触发的控制对此类分布式系统的性能的影响的理论分析。在本文中，我们将事件和时间触发的控制性能与正在考虑共享通信媒介的单一集成剂共识问题进行对比。因此，我们将传输延迟和数据包丢失纳入我们的分析中，并比较两个简单的媒体访问控制协议下的触发方案性能。我们发现，如果强烈使用网络，网络效应可以降低事件触发的控制的性能，超出相同平均触发率的性能级别的性能水平。此外，事件触发的控制收缩的性能优势随越来越多的代理数量，甚至在经过考虑的设置中损失了足够大的网络。
Event-triggered control has the potential to provide a similar performance level as time-triggered (periodic) control while triggering events less frequently. It therefore appears intuitive that it is also a viable approach for distributed systems to save scarce shared network resources used for inter-agent communication. While this motivation is commonly used also for multi-agent systems, a theoretical analysis of the impact of network effects on the performance of event- and time-triggered control for such distributed systems is currently missing. With this paper, we contrast event- and time-triggered control performance for a single-integrator consensus problem under consideration of a shared communication medium. We therefore incorporate transmission delays and packet loss in our analysis and compare the triggering scheme performance under two simple medium access control protocols. We find that network effects can degrade the performance of event-triggered control beyond the performance level of time-triggered control for the same average triggering rate if the network is used intensively. Moreover, the performance advantage of event-triggered control shrinks with an increasing number of agents and is even lost for sufficiently large networks in the considered setup.
