TY - GEN
T1 - Event-Triggered Time-Varying Formation Control for Discrete-Time Multi-Agent Systems with Communication Delays
AU - Yan, Ziwei
AU - Han, Liang
AU - Li, Xiaoduo
AU - Dong, Xiwang
AU - Li, Qingdong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/6
Y1 - 2020/11/6
N2 - This paper investigates formation control for the second-order discrete-time multi-agent systems with communication delays. A protocol based on the event-triggered mechanism is raised, and the corresponding triggering condition is designed in this study. An agent transfers its states to its neighbors only if its triggering condition is met. Compared to the conventional protocol, the designed protocol of this study significantly decreases the communication frequency and improves the communication efficiency. Besides, the system stability is analyzed by problem transformation, formation control is converted into consensus control, and it is proved that the expected formation can be arrived under the designed protocol. Finally, a regular pentagon formation is regarded as a simulation example to conform the feasibility of this algorithm.
AB - This paper investigates formation control for the second-order discrete-time multi-agent systems with communication delays. A protocol based on the event-triggered mechanism is raised, and the corresponding triggering condition is designed in this study. An agent transfers its states to its neighbors only if its triggering condition is met. Compared to the conventional protocol, the designed protocol of this study significantly decreases the communication frequency and improves the communication efficiency. Besides, the system stability is analyzed by problem transformation, formation control is converted into consensus control, and it is proved that the expected formation can be arrived under the designed protocol. Finally, a regular pentagon formation is regarded as a simulation example to conform the feasibility of this algorithm.
KW - Event-triggered mechanism
KW - communication delays
KW - discrete-time systems
KW - formation control
UR - https://www.scopus.com/pages/publications/85100933535
U2 - 10.1109/CAC51589.2020.9326758
DO - 10.1109/CAC51589.2020.9326758
M3 - 会议稿件
AN - SCOPUS:85100933535
T3 - Proceedings - 2020 Chinese Automation Congress, CAC 2020
SP - 6707
EP - 6711
BT - Proceedings - 2020 Chinese Automation Congress, CAC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 Chinese Automation Congress, CAC 2020
Y2 - 6 November 2020 through 8 November 2020
ER -