Cluster Event-Triggered Tracking Cooperative and Formation Control for Multivehicle Systems: An Extended Magnification Region Condition

Abstract

This paper investigates the cluster event-triggered tracking cooperative and formation control for multivehicle systems with nonlinear vehicles dynamics under switching directed communication topologies and safety missions. By employing the cluster event-triggered control strategy, the assumption of continuous feedback control gains and the condition of information exchange limited in a small domain can be relaxed. By constructing an appropriate tracking cooperative condition, a class of cluster event-triggered tracking cooperative control law with an extended magnification region condition is proposed based on bounded parameters and intermittent event samples. When the safety tasks are activated, it is displayed in terms of linear matrix inequalities that the tracking cooperative control for closed-loop multivehicle systems subject to nonlinear vehicles dynamics will be achieved, if the constructed sampling condition and the dwell time constraint of switching communication scenarios can be held. Furthermore, the proposed method is extended to formation control problem for the multivehicle systems. Simulations are presented to demonstrate the effectiveness of the proposed approaches.