Distributed time-varying formation control with uncertainties based on an event-triggered mechanism

Abstract

This paper investigates the distributed time-varying formation (TVF) problems for general linear multi-agent systems (MASs) subject to matched bounded uncertainties based on an adaptive event-triggered mechanism. A TVF protocol was designed with an event-triggered mechanism by introducing adaptive weights into the formation control protocol and triggering condition, and the large chattering phenomenon was avoided by the σ-modification adaptive law. According to the Lyapunov stability theory, proof has been established that the MASs in the presence of uncertainties can realize the expected formation that satisfies the given feasible condition. Finally, an example is provided to verify the effectiveness of the proposed algorithm.

Time-Varying Group Formation With Adaptive Control for Second-Order Multi-Agent Systems

“…In recent decades, the cooperative control of multi-agent systems has achieved significant achievements and development [1]- [5]. With the progress in technology and the increase in the complexity and accuracy of tasks, formation control has been widely studied in recent years.…”