Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1138-1149

https://doi.org/10.1007/s12555-022-0165-x

© The International Journal of Control, Automation, and Systems

Event-triggering Formation Control for Second-order Multi-agent Systems With Sampled Position Data

Jing Liu*, Zhen Li, Jia-Bao Liu, and Jian-an Fang

Anhui Jianzhu University

Abstract

This paper addresses the problem of event-triggering formation control (ETFC) for second-order multiagent systems (MASs) with sampled position data. Firstly, two types of distributed control strategies based on the sampled position data are proposed to solve the observer-based formation control problems. These novel formation control strategies allow the event-triggering conditions to be intermittently examined at random sampling instants, where the data transmission is driven by an event-triggering control protocol. Under this framework, both timeinvariant and time-varying formation controls are considered. Then, based on the algebraic graph theory and matrix theory, some sufficient conditions are given to ensure that the second- order MASs achieve the specified formation shape. Finally, simulation results are provided to show the effectiveness of the theoretical analysis.

Keywords Event-triggering protocol, formation control, multi-agent systems, observer-based, sampled position data.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1138-1149

Published online April 1, 2024 https://doi.org/10.1007/s12555-022-0165-x

Copyright © The International Journal of Control, Automation, and Systems.

Event-triggering Formation Control for Second-order Multi-agent Systems With Sampled Position Data

Jing Liu*, Zhen Li, Jia-Bao Liu, and Jian-an Fang

Anhui Jianzhu University

Abstract

This paper addresses the problem of event-triggering formation control (ETFC) for second-order multiagent systems (MASs) with sampled position data. Firstly, two types of distributed control strategies based on the sampled position data are proposed to solve the observer-based formation control problems. These novel formation control strategies allow the event-triggering conditions to be intermittently examined at random sampling instants, where the data transmission is driven by an event-triggering control protocol. Under this framework, both timeinvariant and time-varying formation controls are considered. Then, based on the algebraic graph theory and matrix theory, some sufficient conditions are given to ensure that the second- order MASs achieve the specified formation shape. Finally, simulation results are provided to show the effectiveness of the theoretical analysis.

Keywords: Event-triggering protocol, formation control, multi-agent systems, observer-based, sampled position data.

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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