Decentralized event-triggered formation of linear multi-agent system

摘要

This paper investigates the problem of event-triggered formation control for multi-agent systems. The time-varying formation this paper deal with can be specified/described by piecewise differentiable vectors. Firstly, a event-triggered based time-varying formation control protocol is constructed using local neighboring information. Then an algorithm consisting of two steps to design the event-triggered formation control protocol is proposed. Moreover, it is proven that under the designed event-triggered formation control protocol, the multi-agent systems with event-triggered controller can achieve the desired time-varying formation which belongs to the feasible formation set. Finally, numerical simulations are presented to verify the effectiveness of the obtained results.