Event-based formation control of heterogeneous multiagent systems with leader agent of nonzero input

被引：11
作者：
Song, Weizhao [1 ]
Feng, Jian [1 ]
Zhang, Huaguang [1 ,2 ]
Hu, Xu [1 ]
机构：
[1] Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110819, Liaoning, Peoples R China
[2] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110819, Liaoning, Peoples R China
来源：
INFORMATION SCIENCES | 2022年 / 598卷
基金：
中国国家自然科学基金;
关键词：
Multiagent system; Time-varying formation control; Adaptive control; Event-triggered control; Fully distributed protocol; COOPERATIVE OUTPUT REGULATION; CONSENSUS CONTROL; FORMATION TRACKING; TRIGGERED CONTROL; TIME; ALGORITHM; PROTOCOLS;
D O I：
10.1016/j.ins.2022.03.057
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 paper, the fully distributed event-triggered time-varying formation control of heterogeneous linear multiagent systems is studied. To make the reference trajectory controllable and flexible, the bounded input is introduced to leader agent. The intention of this paper is to decrease the unnecessary information transmission of agents via communication topology by designing the intermittent transmission control protocol. Firstly, the adaptive state compensator is designed to evaluate the state information of leader agent based on the estimation value of leader state and two kinds of event-triggered mechanisms. Then, two types of output-feedback time-varying formation controllers are presented based on different formation feasible conditions. By theoretical analysis, the estimation error of event-triggered state compensator is proved to be uniformly ultimately bounded and the event-triggered mechanisms prevent Zeno behavior, and the formation tracking errors converge to the small region of zero. Finally, some simulation experiments are provided to support the theoretical results.(c) 2022 Elsevier Inc. All rights reserved.
引用
收藏
页码：157 / 181
页数：25
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