Dynamic Event-Triggered Time-Varying Formation Control of Second-Order Dynamic Agents: Application to Multiple Quadcopters Systems

Abstract

This paper investigates the problem of the time-varying formation control of a second-order dynamic agent based on a distributed dynamic event-triggered algorithm. In this problem, each agent can exchange the information of its position and velocity with its neighbors via limited communication ability. Our approach provides a new dynamic event triggering mechanism to reduce the number of triggering times while maintaining satisfactory control performance. Further, a novel Lyapunov function is proposed to guarantee that the group of agents asymptotically tracks the desired time-varying formation trajectory. The practical applicability of the event triggering mechanism is also indicated by excluding the Zeno behavior in the proposed control algorithm. Finally, the validity and effectiveness of the proposed method are demonstrated via illustrative examples of the time-varying formation flight for six quadcopters.

Secure- and privacy-preserving policies for cooperative control of multiple vehicle systems

“…be the relative position between vehicle i and leader ℓ in the desired formation. Compared to other distributed methods in which each vehicles should know its relative positions to others [12][13][14] or common references, 15 our approach proposes an encrypted distributed algorithm for leader-follower cooperative control, in which each follower is not required to know its relative position in the formation. This feature overcomes a challenge of conventional methods that, when a change of formation occurs, will require updating all relative positions for all vehicles, which takes at least N communication channels.…”

Collision-free Formation Control of Multiple Nano-quadrotors

“…function (10). Furthermore, all the properties of the abovedefined functions are provided in Appendix A.…”

“…Quadrotors, one of the most ubiquitous classes of UAVs, have been intensively developed in many broad applications for assisting humans in difficult missions or hazard environments [7]- [10], e.g., in agriculture [11], industry [12], and military [13]. Among numerous commercial products of quadrotors, this letter mainly focuses on studying nanoquadrotors (a miniature dimension of quadrotors).…”

Edge-Event-Triggered Synchronization for Multi-Agent Systems with Nonlinear Controller Outputs

“…Recently, event-and self-triggered sampling [21][22][23][24][25][26][27][28][29][30][31][32][33] have been introduced into multi-agent coordinated control [32,[34][35][36][37][38][39][40][41][42][43][44][45][46][47][48][49][50][51], and its sampling times are determined by event-triggered conditions rather than by synchronous or asynchronous digital clock signals. In comparison with traditional periodic sampled-data control, distributed event-triggered control performs data sampling according to the needs of agents, avoiding redundant sampling at unnecessary times, thereby saving system resources.…”