Abstract
This paper is concerned with the time-varying formation tracking issue for high-order multi-agent systems based on event-triggered mechanism and adaptive control strategy. The time-varying formation configuration involved in our work is expressed as a bounded piecewise continuously differentiable vector function. The follower agents are required to achieve a pre-specified time-varying formation while tracking the state trajectory of the leader. First of all, in the light of event-triggered schema, we constructed an adaptive control protocol with adjustable time-variant parameters for achieving time-varying formation tracking. Meanwhile, the corresponding triggering conditions were designed to avoid continuous communication. Then, a four-step algorithm and feasible conditions have been provided to determine protocol parameters. Additionally, theoretically proof reveals that the specified formation tracking could be realized while excluding Zeno behavior. Two simulation examples were finally provided to illustrate the effectiveness of the obtained results.
Highlights
In recent years, the study of cooperation and coordination of multi-agent systems (MASs) has been attracting intensive attention and found potential applications in various practical fields, e.g., flocking problem [1], collective diffusion [2], cooperative surveillance [3], formation control [4], and containment control [5]
Inspired by the above facts, this paper focuses on the adaptive time-varying formation tracking problem for general linear MASs based on event-triggered communication
Related Work: Time-varying formation tracking analysis and design problems are investigated in [11] and [12]. While the former focused on estimating the convex combination of the states of multiple leaders, the latter achieved formation tracking for second-order MASs subjected to switching topologies
Summary
The study of cooperation and coordination of multi-agent systems (MASs) has been attracting intensive attention and found potential applications in various practical fields, e.g., flocking problem [1], collective diffusion [2], cooperative surveillance [3], formation control [4], and containment control [5]. Inspired by the above facts, this paper focuses on the adaptive time-varying formation tracking problem for general linear MASs based on event-triggered communication. Related Work: Time-varying formation tracking analysis and design problems are investigated in [11] and [12] While the former focused on estimating the convex combination of the states of multiple leaders, the latter achieved formation tracking for second-order MASs subjected to switching topologies. In our work, through the adaptive strategy integrated with event-triggered schema, the protocol and event-triggering condition are realized in a fully distributed manner, which no more require individual agents to continuously access information about the states of their neighbors as to achieve better resource efficiency. In our proposed event-triggered schema, the existence of the design for dynamical adaptive protocol parameters enables the whole system to achieve a better trade-off between reducing communication times and preserving specified formation.
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