Event-Based Formation Control of Networked Multi-Agent Systems Using Complex Laplacian Under Directed Topology

被引：30

作者：

Ranjbar, Mojtaba ^{[1
]}

Beheshti, Mohammad T. H. ^{[1
]}

Bolouki, Sadegh ^{[1
]}

机构：

[1] Tarbiat Modares Univ, Dept Elect & Comp Engn, Tehran 14115111, Iran

来源：

IEEE CONTROL SYSTEMS LETTERS | 2021年 / 5卷 / 03期

关键词：

Laplace equations; Multi-agent systems; Network topology; Topology; Eigenvalues and eigenfunctions; Transmission line matrix methods; Detectors; Complex Laplacian; event-based control; formation; multi-agent systems; TRIGGERED CIRCLE FORMATION; STRATEGIES;

D O I：

10.1109/LCSYS.2020.3009747

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this letter, the formation control problem of multi-agent systems with directed communication graphs is considered. A novel distributed event-triggered approach, which involves complex Laplacian, is proposed to address the problem. The event condition depends on periodic samplings of agent states, which automatically eliminates the possibility of Zeno behavior. Then, it is shown that, under simple verifiable conditions, the proposed control strategy results in the desired formation of agents. Finally, the results are verified by numerical examples.

引用

页码：1085 / 1090

页数：6

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