Distributed Formation Control of Networked Multi-Agent Systems Using a Dynamic Event-Triggered Communication Mechanism

• Published in: IEEE transactions on industrial electronics (1982) Vol. 64; no. 10; pp. 8118 - 8127
• Main Authors: Ge, Xiaohua, Han, Qing-Long
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2017; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Autonomous mobile robot; Communication; Communication networks; Communications systems; Comparative studies; Control stability; Data communication; Dynamic scheduling; dynamic threshold parameter; event-triggered communication mechanism (ECM); Feedback control; formation control; Model reduction; multi-agent system (MAS); Multi-agent systems; Multiagent systems; Multiple robots; Parameters; Protocols; Schedules; Symmetric matrices

This paper addresses the distributed formation control problem of a networked multi-agent system (MAS) subject to limited communication resources. First, a dynamic event-triggered communication mechanism (DECM) is developed to schedule inter-agent communication such that some unnecessary data exchan...