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

TL;DR

This paper introduces event-triggered control algorithms for multi-agent formation with connectivity preservation, ensuring exponential convergence and Zeno behavior exclusion for both single and double integrator dynamics.

Contribution

It proposes novel event-triggered controllers that maintain network connectivity while achieving formation, applicable to different agent dynamics.

Findings

Agents converge exponentially to formation

Connectivity is preserved during convergence

Zeno behavior is effectively excluded

Abstract

In this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent needs to update its control input and to broadcast this control input together with the relative state information to its neighbors at its own triggering times, and to receive information at its neighbors' 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.