Abstract
This article focuses on circle formation control problem of multiagent systems based on event-triggered strategy under limited communication bandwidth. In such system, each agent can only perceive the angular distance of its nearest neighbor in the counterclockwise direction, and the angular distance of the nearest neighbor in the clockwise direction needs to be obtained by communicating with each other. In order to address the aforementioned problem, a novel distributed algorithm based on the combination of nonuniform quantitative communication technology and event-triggered control is proposed. Sufficient conditions on circle formation control are derived under which the states of all agents can be confirmed to converge to some desired equilibrium point. Different from the traditional uniform quantization communication framework, nonuniform quantization can be beneficial for handling small signals and improving the performance of multiagent systems concerned. Furthermore, under the proposed policy, all the designed quantizers do not emerge saturated. Numerical simulation results are provided to verify the effectiveness of the proposed algorithm.
Highlights
According to the new research literature, formation control of multiagent systems (MASs), which is oriented to design an appropriate control protocol so that all agents can maintain a prescribed geometric shape, has received significant attention owing to its broad applications [1,2,3]
It is contradictory to actual system applications, that is to say, for the practical application case, digital network resources often may be limited by different degrees of energy and communication bandwidth due to some reasons [9]
Based on the interaction between agents, our main goal in this paper is to explore a meaningful hybrid design nonuniform between quantization techniques and eventtriggered mechanisms to solve the circle formation problems with limited communication bandwidth and limited energy: L
Summary
According to the new research literature, formation control of multiagent systems (MASs), which is oriented to design an appropriate control protocol so that all agents can maintain a prescribed geometric shape, has received significant attention owing to its broad applications [1,2,3]. Owing to the limited bandwidth and energy resource, circle formation control of multiagent systems over directed graph with quantized communications is significant from both theoretical and engineering points of view. With the growing demand in industry on systematic methods to model, analyze, and design systems, event-triggered control (ETC) has been proposed as a promising control mode to solve the above problems [22, 23] This ETC framework has been applied to deal with the quantized consensus problems of MASs. In [24, 25], the authors introduced ETC into the second-order system, which proved that it can effectively reduce the calculation amount of the system and reduce the update frequency of the controller.
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