Event-Based Formation Control for Linear Multi-Agent Systems Under Switching Topology
PROCEEDINGS OF THE 15TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2020)(2020)
摘要
This paper investigates linear multi-agent systems under switching topology. A novel event-triggered consensus formation controller is proposed. Sufficient conditions are presented to ensure the boundedness of formation error. Zeno behavior can also be avoided in the event-triggered mechanism. A numerical simulation based on hexagon formation of six robots is carried out to validate the results.
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关键词
Event-triggered mechanism, multi-agent systems, formation control, switching topology
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