Observer-Based Event-Triggered Formation Control of Multi-Agent Systems with Switching Directed Topologies

Guoliang Zhu; Kexin Liu; Haibo Gu; Weilin Luo; Jinhu Lu

doi:10.1109/TCSI.2021.3134816

Observer-Based Event-Triggered Formation Control of Multi-Agent Systems with Switching Directed Topologies

Guoliang Zhu
, Kexin Liu
, Haibo Gu
, Weilin Luo
, Jinhu Lu^*

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Contribution to journal › Article › peer-review

68 Scopus citations

Abstract

This paper investigates the formation control problem for linear multi-agent systems under switching directed topologies. Based on absolute or relative outputs, we propose two distributed observer-based event-triggered control schemes. Both schemes can guarantee the boundedness of formation errors under sufficient conditions. The schemes can also avoid Zeno behaviors by giving an estimation for the lower bound of sampling intervals. Finally, simulations and experiments validate the proposed approaches.

Original language	English
Pages (from-to)	1323-1332
Number of pages	10
Journal	IEEE Transactions on Circuits and Systems
Volume	69
Issue number	3
DOIs	https://doi.org/10.1109/TCSI.2021.3134816
State	Published - 1 Mar 2022

Keywords

Event-triggered control
Formation control
Multi-agent systems
Switching directed topologies

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10.1109/TCSI.2021.3134816

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abstract = "This paper investigates the formation control problem for linear multi-agent systems under switching directed topologies. Based on absolute or relative outputs, we propose two distributed observer-based event-triggered control schemes. Both schemes can guarantee the boundedness of formation errors under sufficient conditions. The schemes can also avoid Zeno behaviors by giving an estimation for the lower bound of sampling intervals. Finally, simulations and experiments validate the proposed approaches.",

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AU - Lu, Jinhu

PY - 2022/3/1

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AB - This paper investigates the formation control problem for linear multi-agent systems under switching directed topologies. Based on absolute or relative outputs, we propose two distributed observer-based event-triggered control schemes. Both schemes can guarantee the boundedness of formation errors under sufficient conditions. The schemes can also avoid Zeno behaviors by giving an estimation for the lower bound of sampling intervals. Finally, simulations and experiments validate the proposed approaches.

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Observer-Based Event-Triggered Formation Control of Multi-Agent Systems with Switching Directed Topologies

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Keywords

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