文章基本信息

标题：Formation Control for Multi-Agent Systems with Connectivity Preservation and Event-Triggered Controllers * * This work was supported by the Knut and Alice Wallenberg Foundation, the Swedish Foundation for Strategic Research, and the Swedish Research Council.
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作者：Xinlei Yi ; Jieqiang Wei ; Dimos V. Dimarogonas 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：9367-9373
DOI：10.1016/j.ifacol.2017.08.1444
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent needs to update its control input and to broadcast this control input together with the relative state information to its neighbors at its own triggering times, and to receive information at its neighbors’ triggering times. Two types of system dynamics, single integrators and double integrators, are considered. As a result, all agents converge to the formation exponentially with connectivity preservation, and Zeno behavior can be excluded. Numerical simulations show the effectiveness of the theoretical results.
关键词：KeywordsMulti-agent systemsformation controlconnectivityevent-triggered control