Event-Triggered Coordination for Formation Tracking Control in Constrained Space With Limited Communication.

Area of Science:

• Robotics
• Control Theory
• Artificial Intelligence

Background:

• Multiagent systems (MAS) face challenges in coordinated control, especially with communication limitations.
• Maintaining formations and tracking trajectories in constrained environments requires adaptive control strategies.

Purpose of the Study:

• To develop an efficient formation tracking control strategy for MAS operating under communication constraints and spatial limitations.
• To enhance the adaptability of MAS to dynamic and unexpected environmental changes.

Main Methods:

• Event-triggered control with role switching to optimize resource usage.
• A novel coordination mechanism utilizing a "coordinator" role for information dissemination.
• Introduction of a formation scaling factor for adaptability to spatial constraints.
• Design of leader and follower controllers and an adaptation law for the scaling factor.

Main Results:

• The proposed approach ensures efficient formation tracking and maintenance in constrained spaces.
• Role switching and the coordinator mechanism improve communication bandwidth, energy, and processor usage.
• The formation scaling factor allows the MAS to navigate impassable regions.
• Asymptotic stability of the MAS is demonstrated using Lyapunov theory.

Conclusions:

• The developed control strategy effectively addresses formation tracking and keeping challenges in MAS with communication and spatial constraints.
• The novel coordination mechanism and adaptive scaling factor offer a robust solution for real-world applications of MAS.