IJCAS

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.