Safety Flocking of Networked Lagrangian Systems With Event-Triggered Communication

This article focuses on the safety flocking control problem of networked Lagrangian systems under event-triggered communication. To avoid collision and preserve connectivity, the concept of safety domain and safety vector is presented. Using these definitions, a novel potential function is designed to guarantee the interagent distance to be limited in an exact range during the flocking process. In addition, a fully distributed dynamic event-triggered scheme is proposed to schedule the communication sources. Both the controller and the event-triggered scheme operate without requiring any global information about the entire topology. Also, Zeno behavior is eradicated in the proposed event-triggered communication scheme. Finally, the effectiveness of the proposed method is shown by case studies.