Periodic Event-Triggered Time-Varying Formation of Multi-Agent Systems

Abstract

This paper investigates event-triggered formation problems of general linear multi-agent systems subject to sampled-data. The time-varying formation this paper studied can be described by a bounded piecewise differentiable function. Firstly, a time-varying formation control protocol is proposed based on event-triggered scheme with the sampled states of the neighboring agents. Each agent broadcasts its state information to neighbor nodes at an sampled instant if the triggering condition is satisfied, and the communication load is decreased significantly. Then an algorithm consisting of three steps is proposed to design the event-triggered formation control protocol. Moreover, it is proven that the multi-agent systems can achieve the desired time-varying formation which belongs to the feasible formation set with the bounded formation error under the designed event-triggered formation protocol. Finally, the effectiveness of the theoretical analysis is verified by a simulation.