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^*

^*此作品的通讯作者

自动化科学与电气工程学院

Beihang University

科研成果: 期刊稿件 › 文章 › 同行评审

68 引用（Scopus）

摘要

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.

源语言	英语
页（从-至）	1323-1332
页数	10
期刊	IEEE Transactions on Circuits and Systems
卷	69
期	3
DOI	https://doi.org/10.1109/TCSI.2021.3134816
出版状态	已出版 - 1 3月 2022

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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.",

keywords = "Event-triggered control, Formation control, Multi-agent systems, Switching directed topologies",

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AU - Gu, Haibo

AU - Luo, Weilin

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.

KW - Event-triggered control

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KW - Switching directed topologies

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

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