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

Bo Yang, Huaicheng Yan, Lu Zeng, Xisheng Zhan and Kaibo Shi

International Journal of Systems Science, 2022, vol. 53, issue 15, 3205-3214

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.

Date: 2022
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2022.2076174 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:53:y:2022:i:15:p:3205-3214

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2022.2076174

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().