Cooperative Target Tracking Control for Multiagent Systems: An Event-Based Aperiodic Observation Method

Area of Science:

• Robotics and Control Systems
• Distributed Systems
• Sensor Networks

Background:

• Multiagent systems (MASs) face challenges in collaborative target tracking with intermittent data.
• Aperiodic observations and limited communication resources complicate distributed tracking.
• Ensuring agent safety and system convergence is critical in MAS applications.

Purpose of the Study:

• To develop a distributed adaptive event-triggered (AET) observer for collaborative target tracking in MASs.
• To design a control strategy that handles aperiodic observations and communication constraints.
• To ensure system stability, bounded tracking errors, and prevent Zeno behavior.

Main Methods:

• Construction of a fully distributed AET observer using aggregated observation measurements.
• Development of a distributed control strategy incorporating communication limits and safety constraints.
• Theoretical analysis to demonstrate ultimate boundedness of tracking errors and absence of Zeno behavior.

Main Results:

• The AET observer efficiently processes aperiodic target observations without global graph information.
• The distributed control strategy successfully achieves cooperative tracking under multiple constraints.
• Simulation results validate the effectiveness of the proposed tracking and control methods.

Conclusions:

• The designed AET observer and distributed control strategy enable robust collaborative target tracking in MASs.
• The system guarantees convergent behavior with bounded tracking errors and avoids Zeno phenomena.
• The approach offers flexibility in sensor information exchange for enhanced MAS performance.