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Distributed Event-Triggered Formation Control of Multiagent Systems via Complex-Valued Laplacian.
IEEE Transactions on Cybernetics
|April 26, 2019
Summary
This study introduces event-triggered formation control for multiagent systems, reducing continuous communication and computation. The proposed method ensures agents achieve desired formations without Zeno behavior, enhancing control efficiency.
Area of Science:
- Robotics and Control Systems
- Networked Systems
- Distributed Computing
Background:
- Multiagent systems require coordinated control for complex tasks.
- Traditional formation control often demands continuous communication and computation, which is inefficient.
- Event-triggered control offers a promising alternative by reducing communication load.
Purpose of the Study:
- To develop an event-triggered formation control strategy for multiagent systems.
- To investigate both continuous-time and discrete-time dynamics.
- To ensure the formation of specific, arbitrary shapes while avoiding Zeno phenomena.
Main Methods:
- Utilizing complex-valued Laplacian for analyzing system dynamics.
- Designing distributed controllers and event triggers based on neighbor states.
- Employing complex-valued differential and difference equations to model agent dynamics.
Main Results:
- Achieved formation of specific, arbitrary shapes among agents.
- Demonstrated avoidance of Zeno phenomenon in continuous-time and Zeno-like behavior in discrete-time systems.
- Validated the effectiveness of the proposed distributed event-triggered control through simulations.
Conclusions:
- The proposed event-triggered formation control is effective for multiagent systems.
- This approach significantly reduces communication and computational burdens.
- The method guarantees stable formation achievement without undesirable triggering behaviors.
