文献类型：会议论文

英文题名：Formation control of multi-agent systems via event-triggered approach under independent position and velocity topologies

作者：Zhu, Hangui[1];Li, Zhen[1];Zhang, Wenle[2];Zhang, Qianru[3]

机构：[1]Xian Univ Posts & Telecommun, Sch Automat, Xian, Peoples R China;[2]East China Univ Sci & Technol, Key Lab Adv Control & Optimizat Chem Proc, Shanghai, Peoples R China;[3]Univ Hong Kong, Hong Kong, Peoples R China

会议论文集：IEEE Symposium Series on Computational Intelligence (SSCI)

会议日期：DEC 06-09, 2019

会议地点：Xiamen, PEOPLES R CHINA

语种：英文

外文关键词：event-triggered control; second-order formation; multiagent systems; independent position and velocity topology; collision avoidance

摘要：In this paper, a distributed event-triggered algorithm has considered for formation problem in second-order multi-agent system with fixed independent position and velocity interaction topologies. For each agent, the involved controller is designed to be updated by time instant that is determined by the local and current sampling data. Based on the Lyapunov control approach, a sufficient criterion has been derived that the desired formation shape can be ensured. Moreover, it is shown that the Zeno phenomenon can be excluded, and an extra control input has been utilized to implement obstacle avoidance. Finally, a numerical simulation is given to illustrate the effectiveness of the theoretical results.