Abstract
An energy-conserving event-driven control method is developed for multiagent systems with unknown disturbances to achieve low-energy formation control. Firstly, an energy-conserving event-driven scheme is developed to save energy by introducing a second trigger function, which is utilized to switch the control input to zero when the consensus error is small. Then, a dynamic energy-conserving event-driven scheme is designed to further decrease the frequency of communication and control by establishing a positive dynamic variable to increase the trigger threshold. Under the designed energy-conserving event-based schemes, the energy consumption during the system stability is significantly reduced, the communication burden is decreased, and the system is Zeno-free and bounded stable. Finally, a four-agent formation example is illustrated to show the effectiveness of the proposed energy-conserving schemes.
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