Event-Triggered Formation Control of Multiagent Systems With Linear Continuous-Time Dynamic Models

Event-triggered formation control of linear continuous-time multiagent systems is studied in this article. A complex-valued Laplacian is adopted by the local information of desired formation. For each agent, an event-triggering mechanism based on the neighboring information at event-triggering time instants is presented and continuous communications between neighboring agents are avoided. Furthermore, an event-triggered control strategy using the idea of dynamic state observer is designed. It is shown that any desired formation shape can be achieved. Moreover, the Zeno-behavior is strictly excluded. Finally, effectiveness of the obtained theoretical results is validated by two simulation examples.

Automated summary

This article studies the event-triggered formation control of linear continuous-time multiagent systems. A complex-valued Laplacian is used to represent the local information of the desired formation, and an event-triggering mechanism based on neighboring information and an event-triggered control strategy using the idea of dynamic state observer are proposed. The results demonstrate the achievability of any desired formation shape and the strict exclusion of Zeno-behavior.