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Event-triggered affine formation of second-order multi-agent systems via complex-valued Laplacian
Wei Zhu1, Yulan Liang1, Chao Pei1
1Key Laboratory of Intelligent Analysis and Decision on Complex Systems, Chongqing University of Posts and Telecommunications, Chongqing, 400065, China.
Abstract:
This paper investigates event-triggered affine formation control of second-order multi-agent systems with directed communication graph. An approach based on complex-valued Laplacian is used as a means of avoiding the use of global information. Two event-triggered strategies are proposed, both of which are capable of achieving global convergence and forming the desired formation without Zeno-behavior, while also optimizing the utilization of resources. Moreover, the dynamic event-triggered strategy conserves more communication resources by comparison. Finally, a numerical simulation example is provided to demonstrate the effectiveness of the obtained conclusions.
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