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Decoupled design of distributed event-triggered circle formation control for multi-agent system

Author

Listed:
  • Bo Yang
  • Huaicheng Yan
  • Lu Zeng
  • Xisheng Zhan
  • Kaibo Shi

Abstract

In this paper, the problem of circle formation of multi-agent system in a plane is investigated. Inspired by the idea of decouple design, we decompose the overall control objective into two sub-goals, the first one is circle forming that agents need to move to a circle with a desired radius and centred on a predefined target, and the second one is space adjustment that each agent form and maintain a desired relative position with its neighbours. Since the completion of the second objective requires information from neighbouring agents, a distributed event-triggered controller is proposed to save communication resources and reduce the number of controller updates, which consists of two parts corresponding to two sub-goals. Furthermore, it is proved that there exists no Zeno behaviour under the proposed control laws. Finally, a numerical simulation verifies the effectiveness of the distributed event-triggered circle formation controller proposed in this paper.

Suggested Citation

  • Bo Yang & Huaicheng Yan & Lu Zeng & Xisheng Zhan & Kaibo Shi, 2022. "Decoupled design of distributed event-triggered circle formation control for multi-agent system," International Journal of Systems Science, Taylor & Francis Journals, vol. 53(15), pages 3205-3214, November.
    • Handle: RePEc:taf:tsysxx:v:53:y:2022:i:15:p:3205-3214
    DOI: 10.1080/00207721.2022.2076174
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