The Formation Control Of Multi-agent Systems Based On Event-triggered Control

In recent years,multi-agent systems(MASs)have received considerable attention in many areas,such as attitude control of satellites,formation control of unmanned aerial vehicles.Formation problem is one of the hot topics in MASs.The event-triggered control approach can effectively reduce the update frequency of the controller and make the system reach the desired objective on the basis of reducing energy consumption.It is extremely effective in practical application.In this paper,we consider the formation problem of several classes of MASs based on distributed event-triggered control.The main results are as follows:1.The time-varying formation problem for general linear MASs is studied.Assume that the undirected adjacency graph of the system is connected and switching arbitrarily,which makes the model is more general.The controller based on distributed event-triggered approach is designed,and the event-triggered condition is obtained by the Lyapunov function method.It can be proved that the system can achieve the desired formation under switching topologies.Finally,a simulation example is given to verify the effectiveness of the obtained theoretical results.2.The time-varying formation problem of a class of MASs with unknown external disturbances is investigated.In our problem,the disturbances of MASs are unknown and bounded.To handle the disturbances,the distributed event-triggered control based on integral sliding mode is proposed.One can proved that the system can arrive the sliding mode surface in finite time and then all the agents can achieve the time-varying formation by Lyapunov function method.Finally,the feasibility of the event-triggered control strategy is verified by simulation example.3.The bipartite consensus of a class of MASs with input saturation is considered.Firstly,the input saturation problem is solved by low-gain feedback technique.Then,we convert the bipartite consensus problem to the standard consensus problem by using a special transformation matrix.And the bipartite consensus problem is solved by distributed event-triggered control whether the topology graph is undirected connected or has a directed spanning tree.Finally,two simulation examples are presented to illustrate the effectiveness of the theoretical results.