Distributed event-triggered robust adaptive formation control of multi-agent rigid bodies on [Formula: see text]

Area of Science:

• Robotics
• Control Systems Engineering
• Distributed Systems

Background:

• Formation control is crucial for multi-agent systems.
• Unknown parameters and disturbances challenge control accuracy.
• Event-triggered control reduces communication load.

Purpose of the Study:

• To develop a distributed robust adaptive event-triggered methodology for formation control of multi-agent rigid bodies.
• To address unknown bounded mass and moment of inertia.
• To mitigate communication demands in networked systems.

Main Methods:

• Utilized bearing vector measurements for control.
• Designed an adaptive law to estimate unknown rigid body parameters.
• Developed a robust adaptive control law for event-triggered scenarios.
• Employed an undirected communication topology.

Main Results:

• Exponential convergence of tracking errors to a residual set was mathematically proven.
• The adaptive law successfully estimated unknown parameters.
• The event-triggered approach effectively reduced communication requirements.

Conclusions:

• The proposed distributed robust adaptive event-triggered methodology is effective for formation control.
• The approach enhances system performance while minimizing communication.
• Validated through rigorous mathematical proofs and numerical simulations.