Event-Triggered Probability-Driven Adaptive Formation Control for Multiple Elliptical Agents
针对一组动力学相同的椭圆智能体，提出一种事件触发控制方案，通过最小碰撞时间和偏差时间更新控制律，并设计概率驱动控制器避免智能体间卡死问题，结合映射自适应和角度自适应策略实现预定编队。
In this article, an event-triggered control scheme is proposed for a group of elliptical agents to achieve a predefined formation. The agents are assumed to have the same dynamics, and the control law for each agent is only updated at its event sequence based on its own minimum collision time and deviation time. The probability-driven controller is designed to prevent the stuck problem among agents. Mapping-adaptive strategy and angle-adaptive scheme based on the minimum collision distance are also developed. Two examples are presented to analyze and demonstrate the effectiveness and potential of the new event-triggered adaptive control algorithm.