Event-triggered Similar Formation Control of Second-order Multi-agent Systems

This paper addresses the event-triggered formation control problems of second-order multi-agent systems with undirected communication graph. The complex-valued Laplacian is adopted to avoid using the global information of multi-agent systems. The formation controller is constructed of the sampling information of the event time instants instead of real-time information of each agent. Continuous updating of controllers and continuous communication among neighbors are avoided. The similar formation with three degrees of freedom: translation, rotation and scaling can be achieved. In addition, Zeno-behavior is excluded. Finally, a numerical simulation is carried out to validate the theoretical results.