Self-Triggered Network Coordination over Noisy Communication Channels
For networked systems with unreliable communication, this work provides a decentralized coordination method that operates under unknown noise, but the results are incremental as they extend existing self-triggered approaches to noisy channels.
This paper addresses coordination problems over noisy packet-based communication channels, introducing a self-triggered scheme that ensures practical consensus in noiseless settings and bounds disagreement in noisy ones, without requiring global network or noise information.
This paper investigates coordination problems over packet-based communication channels. We consider the scenario in which the communication between network nodes is corrupted by unknown-but-bounded noise. We introduce a novel coordination scheme, which ensures practical consensus in the noiseless case, while preserving bounds on the nodes disagreement in the noisy case. The proposed scheme does not require any global information about the network parameters and/or the operating environment (the noise characteristics). Moreover, network nodes can sample at independent rates and in an aperiodic manner. The analysis is substantiated by extensive numerical simulations.