Event-Triggered Probability-Driven Adaptive Formation Control for Multiple Elliptical Agents

被引：13

作者：

Liu, Yutong ^{[1
]}

Shi, Peng ^{[1
]}

Yu, Hongjun ^{[2
]}

Lim, Cheng-Chew ^{[1
]}

机构：

[1] Univ Adelaide, Sch Elect & Elect Engn, Adelaide, SA 5005, Australia

[2] Harbin Engn Univ, Sch Automat, Harbin 150001, Peoples R China

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2022年 / 52卷 / 01期

基金：

澳大利亚研究理事会;

关键词：

Multi-agent systems; Shape; Adaptive control; Aerospace electronics; Control systems; Stability analysis; Adaptive mapping scheme; event-triggered; formation control; multiple elliptical agents; rotation control; NONLINEAR MULTIAGENT SYSTEMS; COLLISION-AVOIDANCE; CONSENSUS TRACKING; VEHICLES; MODE;

D O I：

10.1109/TSMC.2020.3026029

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, an event-triggered control scheme is proposed for a group of elliptical agents to achieve a predefined formation. The agents are assumed to have the same dynamics, and the control law for each agent is only updated at its event sequence based on its own minimum collision time and deviation time. The probability-driven controller is designed to prevent the stuck problem among agents. Mapping-adaptive strategy and angle-adaptive scheme based on the minimum collision distance are also developed. Two examples are presented to analyze and demonstrate the effectiveness and potential of the new event-triggered adaptive control algorithm.

引用

页码：645 / 654

页数：10

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