Adaptive Time-Varying Formation Tracking Control for Multiagent Systems With Nonzero Leader Input by Intermittent Communications
研究了线性多智能体系统中跟随者跟踪领导者状态并形成预设时变编队的问题，提出了一种基于节点事件和边事件触发的自适应控制策略，实现间歇通信并避免Zeno行为。
The time-varying formation (TVF) tracking problem is studied for linear multiagent systems (MASs), where followers reach a preset TVF when tracking the leader's state. Followers are divided into the informed ones, which directly receive the leader's information, and uninformed ones. To alleviate communication requirements, trigger mechanisms are designed for the leader and all edges. Note that the designed trigger mechanisms enable the leader to send information intermittently and each follower to transmit information asynchronously when the corresponding trigger mechanism is satisfied. To address the TVF tracking problem, the node-event (for the leader) and (dynamic) edge-event triggered adaptive control strategy is proposed, which is fully distributed and has no relation to the system network's scale. Moreover, the MASs do not exhibit the Zeno behavior. Finally, a practice example is introduced to effectively illustrate the theoretical results.