Event-Triggered Coordination for Formation Tracking Control in Constrained Space With Limited Communication
研究了通信受限的多智能体系统在非全知约束空间中的编队跟踪控制，通过引入“协调者”角色和事件触发机制，实现带宽、能耗和处理器的高效利用，并引入编队缩放因子应对不可通行区域。
In this paper, the formation tracking control is studied for a multiagent system (MAS) with communication limitations. The objective is to control a group of agents to track a desired trajectory while maintaining a given formation in nonomniscient constrained space. The role switching triggered by the detection of unexpected spatial constraints facilitates efficiency of event-triggered control in communication bandwidth, energy consumption, and processor usage. A coordination mechanism is proposed based on a novel role "coordinator" to indirectly spread environmental information among the whole communication network and form a feedback link from followers to the leader to guarantee the formation keeping. A formation scaling factor is introduced to scale up or scale down the given formation size in the case that the region is impassable for MAS with the original formation size. Controllers for the leader and followers are designed and the adaptation law is developed for the formation scaling factor. The conditions for asymptotic stability of MAS are discussed based on the Lyapunov theory. Simulation results are presented to illustrate the performance of proposed approaches.