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

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)6235-6245
Journal / PublicationIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number10
Online published28 Jan 2022
Publication statusPublished - Oct 2022


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.

Research Area(s)

  • Complex-valued Laplacian, event-triggered control, formation, Laplace equations, Mathematical models, Multi-agent systems, multiagent systems, Observers, Protocols, Shape, Vehicle dynamics

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