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Event-Triggered Formation Control of Multiagent Systems With Linear Continuous-Time Dynamic Models

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Event-triggered formation control of linear continuous-time multiagent systems is studied in this article. A complex-valued Laplacian is adopted by the local information of desired formation. For each agent, an event-triggering… Click to show full abstract

Event-triggered formation control of linear continuous-time multiagent systems is studied in this article. A complex-valued Laplacian is adopted by the local information of desired formation. For each agent, an event-triggering mechanism based on the neighboring information at event-triggering time instants is presented and continuous communications between neighboring agents are avoided. Furthermore, an event-triggered control strategy using the idea of dynamic state observer is designed. It is shown that any desired formation shape can be achieved. Moreover, the Zeno-behavior is strictly excluded. Finally, effectiveness of the obtained theoretical results is validated by two simulation examples.

Keywords: time; event triggered; event; control; triggered formation; formation

Journal Title: IEEE Transactions on Systems, Man, and Cybernetics: Systems
Year Published: 2022

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