Practical Time-Varying Formation Control for Nonlinear Multiagent Systems with Event-triggered Mechanism
TL;DR: Practical Time-Varying Formation Control for Nonlinear Multiagent Systems with Event-triggered Mechanism
Abstract: Abstract—This paper addresses the problem of practical timevarying formation control for nonlinear multi-agent systems with
an event-triggered mechanism. In dynamic and complex multiagent systems, maintaining a desired formation while adapting
to nonlinearities and varying communication constraints presents
significant challenges. We propose a novel control strategy that
incorporates a time-varying formation criterion and utilizes
an event-triggered mechanism to optimize communication efficiency.Our approach begins with the design of a practical timevarying formation control law tailored to handle the nonlinear
dynamics inherent in multi-agent systems. The event-triggered
mechanism is employed to reduce the frequency of control
updates and communication overhead by activating the control
updates only when necessary, based on predefined criteria. This
mechanism ensures that the agents adjust their control actions in
response to significant deviations from the desired formation, thus
maintaining formation integrity while conserving communication
resources.We derive stability conditions for the proposed control
strategy and demonstrate its effectiveness through rigorous theoretical analysis and simulations. Theoretical results confirm that
the system can achieve and maintain the desired time-varying
formation despite the nonlinearities and dynamic communication
constraints. Simulation experiments validate the practicality and
robustness of the proposed method, showing that it effectively
maintains the formation and reduces communication load.
Submission Number: 191
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