Formation Control for Multi-Agent Systems with Connectivity Preservation and Event-Based Controllers

In this paper, event-triggered algorithm and self-triggered algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent only needs to update its control input by sensing the relative state information and to broadcast its triggering information to its neighbors at its own triggering times, and to listen and to receive its neighbors’ triggering information at their triggering times. Two types of system dynamics, single integrators and double integrators, are considered. As a result, all agents converge to the formation exponentially with connectivity preservation, and Zeno behavior can be excluded. Numerical simulations show the effectiveness of the theoretical results.

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