Affine Formation Maneuver Control of Event-triggered Multi-agent Systems ?

摘要

An event-triggered affine formation maneuver control problem is studied in this work. The formations are invariant for any affine transformation. An event-triggered mechanism is proposed for the closed-loop system under which the controller updates and information broadcasting are generated only when it is necessary to maintain the system behavior. The practical convergence is guaranteed for the closed-loop system and Zeno behavior is excluded. Simulations are provided to verify the effectiveness of the method.