Distributed Formation Control via Output Feedback Event-Triggered Coordination

摘要

This paper studies the formation control problem for general linear multi-agent systems constrained with unavailable states and event-triggered communications. To solve this problem, we propose a distributed adaptive event-triggered output feedback protocol, which is able to achieve given formation structures and eliminate the unexpected Zeno behavior. By using sampled information at event instants rather than real-time information, the proposed protocol efficiently avoids continuous communications, reduces the bandwidth need of communication, and decreases the energy consuming. Compared to previous works, the main contribution of this paper is that the adaptive event-triggered protocol requires no global information and can be used in a fully distributed and scalable manner. It is worth emphasizing that this paper designs a kind of novel triggering functions that provide convenience to prove the exact convergence of the formation error. Finally, a numerical example is provided to testify the feasibility of the proposed protocol.