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Group Time-Varying Formation Tracking Control for Multiagent Systems Using Multiple Dynamic Edge-Event-Triggered

Jing He, Dongsheng Yang, Jiayue Sun

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    This summary is machine-generated.

    This study introduces adaptive time-varying group formation tracking for multiagent systems. Novel event-triggered mechanisms conserve resources while enhancing coordination and information transparency in complex formations.

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    Area of Science:

    • Robotics and Control Systems
    • Networked Multiagent Systems

    Background:

    • Coordinated control of multiagent systems (MASs) is crucial for complex tasks.
    • Existing methods often require continuous communication, limiting resource efficiency.
    • Adaptive time-varying group formation tracking (TVGFT) presents unique challenges.

    Purpose of the Study:

    • To develop a novel TVGFT protocol for linear MASs with nonautonomous leaders.
    • To design asynchronous dynamic edge-event-triggered mechanisms (DEETMs) for resource conservation.
    • To enhance intergroup information exchange for improved formation coordination and transparency.

    Main Methods:

    • Decomposition of MASs into multiple subgroups for parallel tracking.
    • Development of DEETMs for intermittent leader communication and asynchronous follower transmission.
    • Integration of DEETMs for both interlayer and intergroup information interactions.

    Main Results:

    • Successful tracking of corresponding leaders by each subgroup.
    • Significant conservation of communication resources through event-triggered mechanisms.
    • Enhanced formation coordination and information transparency via intergroup communication.

    Conclusions:

    • The proposed TVGFT protocol effectively addresses complex formation tasks in MASs.
    • DEETMs offer a viable solution for optimizing network utilization and communication efficiency.
    • The study validates the protocol's efficacy through simulation experiments.