Cooperative control of multi-agent systems with event-based communication

Networked control of multi-agent systems under limited communication resources is an important research area. Event-based communication is a means to reduce the communication load by performing an information exchange among different subsystems only when the deviation of the current subsystem state from the estimated state exceeds a given bound. In this way, the communication load can be reduced, while a sufficient performance can be still guaranteed. The performance of the event-based control system is evaluated by comparing the event-based control loop with the continuous state-feedback loop. The relation between the communication load and the deviation from the optimal performance is analyzed.