Abstract
The paper is discussing about scaled consensus control for multi-agent systems (MASs) to form into teams under a modified event-triggered (DET) scheme. Firstly, a DET strategy which is based on sampled data is put forward by presenting a dynamic auxiliary parameter (ADV). In this case, Zeno phenomenon can be avoided. Then, a distributed formation control protocol is proposed where a scalar vector and a formation function are set. By combining formation control with scaled consensus, complex multiple formation control can be achieved without imposing additional constraints on the weighting values of the topologies. The error system is designed to have time-varying network-induced delays. An improved Lyapunov-Krasovskii functional (LKF) is chosen to analyze the steadiness of the error system. Finally, an example of multiple unmanned aerial vehicle (UAV) formation flying is displayed to validate the rationality of the theroems.
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