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    Area of Science:

    • Control Systems Engineering
    • Robotics
    • Networked Systems

    Background:

    • Investigates the time-varying output formation problem in heterogeneous multiagent systems.
    • Addresses challenges with limited output measurements and unknown input signals from a leader agent.
    • Considers scenarios where only a subset of follower agents can directly access the leader.

    Purpose of the Study:

    • To develop a distributed event-triggered control scheme for achieving output formation in multiagent systems.
    • To design a leader-state compensator with dynamic event-triggered mechanisms to reduce communication overhead.
    • To enable follower agents to track a flexible reference trajectory generated by the leader's unknown input.

    Main Methods:

    • Design of a leader-state compensator for each follower agent to estimate the leader's state.
    • Implementation of two dynamic event-triggered (DET) mechanisms: node-based for leader-follower and edge-based for follower-follower communication.
    • Development of a distributed formation controller for follower agents to achieve formation tracking.
    • The control protocol is fully distributed, avoiding reliance on global topology information like Laplacian eigenvalues.

    Main Results:

    • The proposed control protocol effectively achieves output formation for heterogeneous multiagent systems.
    • Dynamic event-triggered mechanisms significantly conserve communication bandwidth in leader-follower and follower-follower interactions.
    • The distributed nature of the control protocol simplifies implementation and enhances scalability.

    Conclusions:

    • The presented event-triggered control scheme offers an effective and communication-efficient solution for the output formation problem.
    • Numerical and comparison experiments validate the performance and robustness of the proposed control strategy.
    • The methodology is applicable to various multiagent systems requiring distributed formation control with limited communication.