Event-triggered Formation Control for Multi-agent Systems with Unknown Disturbances under Switching Topologies

Tianyu Ding; Kexin Liu

doi:10.1109/CAC53003.2021.9727473

Event-triggered Formation Control for Multi-agent Systems with Unknown Disturbances under Switching Topologies

Tianyu Ding
, Kexin Liu

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This paper investigates formation control problem for multi-agent systems (MASs) subject to external disturbance. By utilizing event-triggered scheme, the controllers update their states at aperiodic discrete time instants, where not all the agents have to broadcast information at the same time. With the help of extended state observers, we suppress the influence of unknown external disturbances and achieve the predesigned formation under switching communication networks. Sufficient conditions are deduced to guarantee the boundedness of estimate errors and formation errors. In addition, Zeno behaviors are exclusive in the control algorithm. Finally, a numerical simulation is given to validate the theoretical results.

Original language	English
Title of host publication	Proceeding - 2021 China Automation Congress, CAC 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	133-138
Number of pages	6
ISBN (Electronic)	9781665426473
DOIs	https://doi.org/10.1109/CAC53003.2021.9727473
State	Published - 2021
Event	2021 China Automation Congress, CAC 2021 - Beijing, China Duration: 22 Oct 2021 → 24 Oct 2021

Publication series

Name	Proceeding - 2021 China Automation Congress, CAC 2021

Conference

Conference	2021 China Automation Congress, CAC 2021
Country/Territory	China
City	Beijing
Period	22/10/21 → 24/10/21

Keywords

Event-triggered Control
Extended State Observers
Formation
Switching Directed Topologies

Access to Document

10.1109/CAC53003.2021.9727473

Cite this

Ding, T., & Liu, K. (2021). Event-triggered Formation Control for Multi-agent Systems with Unknown Disturbances under Switching Topologies. In Proceeding - 2021 China Automation Congress, CAC 2021 (pp. 133-138). (Proceeding - 2021 China Automation Congress, CAC 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CAC53003.2021.9727473

@inproceedings{cb47f1b591c04294ba79b9298d035aca,

title = "Event-triggered Formation Control for Multi-agent Systems with Unknown Disturbances under Switching Topologies",

abstract = "This paper investigates formation control problem for multi-agent systems (MASs) subject to external disturbance. By utilizing event-triggered scheme, the controllers update their states at aperiodic discrete time instants, where not all the agents have to broadcast information at the same time. With the help of extended state observers, we suppress the influence of unknown external disturbances and achieve the predesigned formation under switching communication networks. Sufficient conditions are deduced to guarantee the boundedness of estimate errors and formation errors. In addition, Zeno behaviors are exclusive in the control algorithm. Finally, a numerical simulation is given to validate the theoretical results.",

keywords = "Event-triggered Control, Extended State Observers, Formation, Switching Directed Topologies",

author = "Tianyu Ding and Kexin Liu",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE; 2021 China Automation Congress, CAC 2021 ; Conference date: 22-10-2021 Through 24-10-2021",

year = "2021",

doi = "10.1109/CAC53003.2021.9727473",

language = "英语",

series = "Proceeding - 2021 China Automation Congress, CAC 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "133--138",

booktitle = "Proceeding - 2021 China Automation Congress, CAC 2021",

address = "美国",

}

Ding, T & Liu, K 2021, Event-triggered Formation Control for Multi-agent Systems with Unknown Disturbances under Switching Topologies. in Proceeding - 2021 China Automation Congress, CAC 2021. Proceeding - 2021 China Automation Congress, CAC 2021, Institute of Electrical and Electronics Engineers Inc., pp. 133-138, 2021 China Automation Congress, CAC 2021, Beijing, China, 22/10/21. https://doi.org/10.1109/CAC53003.2021.9727473

Event-triggered Formation Control for Multi-agent Systems with Unknown Disturbances under Switching Topologies. / Ding, Tianyu; Liu, Kexin.
Proceeding - 2021 China Automation Congress, CAC 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 133-138 (Proceeding - 2021 China Automation Congress, CAC 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Event-triggered Formation Control for Multi-agent Systems with Unknown Disturbances under Switching Topologies

AU - Ding, Tianyu

AU - Liu, Kexin

PY - 2021

Y1 - 2021

N2 - This paper investigates formation control problem for multi-agent systems (MASs) subject to external disturbance. By utilizing event-triggered scheme, the controllers update their states at aperiodic discrete time instants, where not all the agents have to broadcast information at the same time. With the help of extended state observers, we suppress the influence of unknown external disturbances and achieve the predesigned formation under switching communication networks. Sufficient conditions are deduced to guarantee the boundedness of estimate errors and formation errors. In addition, Zeno behaviors are exclusive in the control algorithm. Finally, a numerical simulation is given to validate the theoretical results.

AB - This paper investigates formation control problem for multi-agent systems (MASs) subject to external disturbance. By utilizing event-triggered scheme, the controllers update their states at aperiodic discrete time instants, where not all the agents have to broadcast information at the same time. With the help of extended state observers, we suppress the influence of unknown external disturbances and achieve the predesigned formation under switching communication networks. Sufficient conditions are deduced to guarantee the boundedness of estimate errors and formation errors. In addition, Zeno behaviors are exclusive in the control algorithm. Finally, a numerical simulation is given to validate the theoretical results.

KW - Event-triggered Control

KW - Extended State Observers

KW - Formation

KW - Switching Directed Topologies

UR - https://www.scopus.com/pages/publications/85128099780

U2 - 10.1109/CAC53003.2021.9727473

DO - 10.1109/CAC53003.2021.9727473

M3 - 会议稿件

AN - SCOPUS:85128099780

T3 - Proceeding - 2021 China Automation Congress, CAC 2021

SP - 133

EP - 138

BT - Proceeding - 2021 China Automation Congress, CAC 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 China Automation Congress, CAC 2021

Y2 - 22 October 2021 through 24 October 2021

ER -

Event-triggered Formation Control for Multi-agent Systems with Unknown Disturbances under Switching Topologies

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Keywords

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