Time-varying formation for general linear multi-agent systems via distributed event-triggered control under switching topologies

Abstract

This paper investigates the time-varying formation problem for general linear multi-agent systems using distributed event-triggered control strategy. Different from the previous works, to achieve the desired time-varying formation, a distributed control scheme is designed in an event-triggered way, in which for each agent the controller is triggered only at its own event times. The interaction topology among agents is assumed to be switching. The common Lyapunov function as well as Riccati inequality is applied to solve the time-varying formation problem. Moreover, the Zeno behavior of triggering time sequences can be excluded for each agent. Finally, a simulation example is presented to illustrate the effectiveness of the theoretical results.

Time-Varying Formation Control for Second-Order Discrete-Time Multi-Agent Systems With Directed Topology and Communication Delay

“…As the agent numbered 1 is arbitrarily chosen, it can be easily verified that ( 14) is equivalent to (5). Thus the conclusion of Theorem 1 can be obtained.…”

“…Formation control, as one of the most fundamental distributed cooperative control problems for multi-agent systems, is a critical step of cooperation among agents [1], [2]. Therefore, cooperative formation control for multi-agent systems has become a research hotspot and accurate maintenance of a geometric formation between agents has been studied extensively [3]- [5]. In general, the formation control problems for multi-agent systems are to find distributed coordination schemes for networks of agents such that they would reach and maintain some desired, possibly time-varying formation or group configuration.…”

Time‐varying anti‐disturbance formation control for high‐order non‐linear multi‐agent systems with switching directed topologies

“…Currently, the time‐varying formation control for multi‐agent systems with switching interaction topologies is a focus [21–23]. However, the switching interaction topologies in [22, 23] are undirected, and that means the communication among agents is bidirectional and the resource consumption in practice will be doubled. Switching directed topologies have been shown to be able to solve this problem effectively.…”

Self-Triggered Consensus of Vehicle Platoon System With Time-Varying Topology

“…More research is focused on multi-agent systems (Munz et al, 2011 ; Saboori and Khorasani, 2014 ). For example, we found that we can design more reasonable and effective control strategies by analyzing the derivatives of time-varying topological variables (Wang et al, 2018 ). It is thus more practical to study the time-varying topology of the vehicle platoon system than fixed topology.…”