Event-Triggered Formation Control of Multiagent Systems With Linear Continuous-Time Dynamic Models
研究了线性连续时间多智能体系统的事件触发编队控制，通过复值拉普拉斯矩阵和基于邻居信息的事件触发机制，避免连续通信，并利用动态状态观测器设计控制策略，实现任意编队形状并排除Zeno行为。
Event-triggered formation control of linear continuous-time multiagent systems is studied in this article. A complex-valued Laplacian is adopted by the local information of desired formation. For each agent, an event-triggering mechanism based on the neighboring information at event-triggering time instants is presented and continuous communications between neighboring agents are avoided. Furthermore, an event-triggered control strategy using the idea of dynamic state observer is designed. It is shown that any desired formation shape can be achieved. Moreover, the Zeno-behavior is strictly excluded. Finally, effectiveness of the obtained theoretical results is validated by two simulation examples.