Fully Distributed Event/Self-Triggered Bipartite Output Formation-Containment Tracking Control for Heterogeneous...

Area of Science:

• Control Theory
• Multiagent Systems
• Robotics

Background:

• Addresses the challenge of formation-containment tracking in general linear heterogeneous multiagent systems.
• Considers systems with multiple nonautonomous leaders and incomplete state information.
• Incorporates both cooperative and antagonistic interactions between neighboring agents.

Purpose of the Study:

• To design a distributed output-formation-containment tracking control strategy for multiagent systems.
• To develop an observer-based approach for state estimation using only output information.
• To propose an event-triggered and a self-triggered control strategy that avoids Zeno behavior and continuous communication.

Main Methods:

• Construction of an observer to estimate agent states from output information.
• Development of an asynchronous, fully distributed, event-triggered bipartite compensator using local information.
• Formulation of a formation-containment tracking control strategy and a parameter determination algorithm.
• Design of a novel self-triggered control strategy based on sampled information.

Main Results:

• The proposed compensator successfully estimates the convex hull of multiple leaders' states without global information.
• The control strategy ensures effective formation-containment tracking.
• Zeno behavior is proven to be excluded in finite time for both event-triggered and self-triggered strategies.
• The self-triggered strategy eliminates the need for continuous communication among agents.

Conclusions:

• The developed observer-based and distributed compensator strategies enable robust formation-containment tracking for complex multiagent systems.
• The proposed event-triggered and self-triggered control methods offer efficient and communication-sparing solutions.
• Numerical validation confirms the effectiveness and performance of the presented control strategies.