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Related Experiment Videos

Event-triggered adaptive formation control for multi-agent systems using ratio-of-distance rigidity.

Armin Sheikh Sofla¹, Khalil Alipour², Bahram Tarvirdizadeh¹

¹Advanced Service Robots (ASR) Laboratory, Department of Mechatronics Engineering, School of Intelligent Systems Engineering, College of Interdisciplinary Science and Technology, University of Tehran, Tehran, Iran.

Scientific Reports

|June 25, 2026

Summary

This study presents adaptive formation control for multi-agent systems using relative distance ratios. An event-triggered strategy reduces control updates while ensuring stable, coordinated maneuvers despite system uncertainties.

Keywords:

Adaptive formation control Event-triggered control Multi-agent systems Nonsmooth control Ratio-of-distance (RoD) rigidity Time-varying formation maneuvering

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Area of Science:

Robotics
Control Theory
Multi-Agent Systems

Background:

Coordinated control of multi-agent systems is crucial for complex tasks.
Maintaining rigid formations under dynamic conditions presents significant challenges.
Existing methods often require continuous communication and control updates.

Purpose of the Study:

To develop an adaptive formation control strategy for multi-agent systems.
To achieve and maintain rigid formations while tracking maneuvering velocities.
To enhance practical efficiency through an event-triggered control approach.

Main Methods:

Utilized a ratio-of-distance (RoD) rigidity framework for scalable formation description.
Developed distributed adaptive control laws with event-triggered updates.
Employed Lyapunov-based stability analysis for system verification.
Incorporated nonsmooth control terms for time-varying velocity tracking.

Main Results:

Formation errors asymptotically converge to zero.
Adaptive signals remain bounded, ensuring system stability.
Event-triggered control significantly reduces control updates compared to continuous methods.
Velocity consensus is achieved for maneuvering tasks.

Conclusions:

The proposed adaptive event-triggered formation control is effective for uncertain multi-agent systems.
The RoD framework facilitates scalable and stable rigid formation control.
The method offers practical advantages in terms of reduced communication and computation.