Distributed Adaptive Formation Control for Second-Order Multi-Agent Systems based Event-Triggered Scheme

This paper study the adaptive event-triggered time-varying formation (TVF) problems for second-order multi-agent systems(MAS) with uncertainties. The adaptive formation control protocol with event-triggered mechanism is proposed by introducing adaptive weights into triggering condition and control protocol. And the information interaction topologies of the MAS is unnecessary to generate the formation control signal. According to the Lyapunov stability theory, it is proved that the multi-agent systems with the uncertainties can accomplish the designed formation which satisfies the feasible condition.

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