Formation Tracking Control for Heterogeneous Multiagent Systems With Multiple Nonautonomous Leaders via Dynamic Event-Triggered Mechanisms
研究了异构多智能体系统在动态事件触发机制下的时变编队跟踪问题，设计了自适应多领导者状态补偿器和编队跟踪控制器，节省通信带宽且无需全局信息。
This article considers the time-varying formation (TVF) tracking issue of heterogeneous multiagent systems (HMASs) with the dynamic event-triggered control. The HMASs contain heterogeneous multiple leaders, all of which have the input signals to generate flexible reference, and only the output information can be measured. All leaders do not have access to the same followers, that is, the well-informed follower assumption is removed in this article. In this setting, the adaptive multileader state compensator is designed for each follower to estimate the integrated state information of all leaders, which can equip with two kinds of dynamic event-triggered mechanisms, that is, node-based event-triggered mechanism and edge-based event-triggered mechanism, to save communication bandwidth. Then, the TVF controllers are built by some estimation values to regulate the followers to achieve and maintain the geometric shape while tracking the reference which is the convex combination of outputs of leaders. The event-triggered compensator and TVF controller constitute the control protocol of HMASs, which are independent of global information with the fully distributed manner. The stability analysis and numerical simulations are given to verify the presented control protocol.